Originally Posted by
biknbrian
"A bicycle stays upright while moving forward by being steered so as to keep its
center of mass over the wheels.
[13] This steering is usually provided by the rider, but under certain conditions may be provided by the bicycle itself."
Err, that steering correction is ALWAYS provided by the bicycle. Try riding a bike with no rake and no trail and you won't get very far relying on just rider feedback.