With humans, that's about all you need to say. You very quickly feel how the lean changes based on the steering input, so righting yourself becomes obvious. And when you inevitably overdo it and end up leaning the opposite way, you turn the bars that new direction. WOBBLE WOBble wobble straight.
[1]: https://www.youtube.com/watch?v=jGEkmDRsq_M
Edit - also OP, very cool thesis work!
The handlebars aren't really used to steer the bike, the way most people think of steering. What they do is shift the bicycle further away from under the rider, which then, due to the bicycles naturally self-stabilising, steer to upright itself.
I’ve never heard that folklore. I thought ‘everybody’ knew back-tires wear out a lot faster because the load on them is higher and because they’re the one being powered. https://www.sheldonbrown.com/tire-rotation.html:
“It is common for a front tire to outlast a rear tire by as much as three to one. Rear tires have more weight on them, and also have to deal with drive forces.”
Let's say you start with brand new tires on both wheels. Let's further suppose that you completely wear out your rear tire in 1 year and your front tire in 4 years. If on the first anniversary you rotate and place the new tire in front, you'll need to repeat the procedure after 9 months, and then every 9 months after that. On the 4th anniversary you'll have bought 5 tires: on the 12th, 21st, 30th, 39th, and 48th months. If you simply replace each tire as it wears out without any rotation, on the 4th year you'll have bought 5 tires, 1 to replace the front tire once and 4 to replace the rear tire 4 times.
Weight is transferred to the front on heavy braking, and if you have proper technique, you will not go over the bars. The front tire does all of the actual stopping.
How on earth science.uva.nl was inspired to pair up plates, add some thickness and a drive chain will likely remain a mystery for the ages.
Possible I am wrong, but there is a critical assumption, that being: “With additional inspection, knowing that the tangent vectors from the back-tire point with fixed distance to the front-tire track, we can find which way the bicycle went.”
As result, if the front and back tires do not maintain a fixed distance, prior research does not apply. Examples of factors that might produce minor variations include: suspension, untrue wheels, etc.
