> and even the seemingly basic idea that, for a bicycle to be self-stable, it needs to turn the handlebars into the fall, has not yet been proven. is it proven

> and even the seemingly basic idea that, for a bicycle to be self-stable, it needs to turn the handlebars into the fall, has not yet been proven. is it proven at least that "the bike needs to turn into the fall (the handlebars moving not necessarily being the cause of the bicycle turning)"?