You know these things, but maybe you haven’t thought about them in exactly this way. In the middle ’90s I was involved in a startup that built a stationary bike that modeled the 3D movement of a non-stationary bike. You leaned to steer it, with the bars performing the same counter-steering function of a regular bike. We tied this to movement through a virtual space. It was probably the best VR cycling application possible with the Pentium processors and limited computer memory of the day.
A cornerstone of our work (Let’s be clear. I was NOT on the tech team.) was the book Bicycling Science, which we all read and tried to digest as best we could. What you find out is that the bicycle is really amazing, an absolutely ingenious invention that solves so many of the basic problems of moving through a physical space both elegantly and efficiently.
Here’s a video that scratches the surface of bicycle engineering.