🚲 Bicycle Balance Lab: Countersteering, Self-Stability, Trail and Gyroscopic Effects

Whipple-Carvallo benchmark bicycle (Meijaard et al. 2007): eigenvalues of the weave, capsize and caster modes versus speed, the self-stable speed window, effects of trail, gyroscopic torque and mass position, and a PD rider that countersteers into turns. Unlike the catalogue's bicycle aerodynamics and kick-bicycle sims, this one is about balance dynamics.