Human Control of a Bicycle


My graduate work at UC Davis was rounded out with a project that focused on identifying the control actions employed by a human during simple bicycle maneuvers. I constructed an instrumented bicycle and collected a great deal of data during a series of experiments in which the rider attempted to balance a bicycle under the influence of lateral perturbations. This data was then used to identify both a plant and control model of the underlying system and validate our hypotheses about the rider's control structure.


Journal Papers

Control Theoretic

Ronald Hess, Jason K. Moore, and Mont Hubbard. "Modeling the Manually Controlled Bicycle". In: IEEE Transactions on Systems, Man, and Cybernetics - Part A: Systems and Humans 42(3), 2012, pp. 545-557. doi: 10.1109/TSMCA.2011.2164244.

Control Identification

A. L. Schwab et al. "Rider control identification in bicycling using lateral force perturbation tests". In: Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 227(4), December 2013, doi: 10.1177/1464419313492317.


Jason K. Moore. Human Control of a Bicycle". PhD thesis. Davis, CA: University of California, Davis, Aug. 2012.


UC Media

This was a promotional piece done by the University of California media.


KQED did a piece on the project.


  • MAE Exit Seminar, Davis, CA, USA, Human Control of a Bicycle, May 15, 2012
  • UCD MAE Qualifying Exam, Davis, CA, Human Control of a Bicycle October 9, 2009

Exit Seminar


All of the software used in the project is open sourced and can be found in online hosting repositories:


Moore, Jason; Hubbard, Mont (2014): Davis Instrumented Bicycle Experiment Raw Data. figshare.

Moore, Jason; Hubbard, Mont (2014): Davis Instrumented Bicycle Calibration Raw Data. figshare.

Moore, Jason; Hubbard, Mont (2014): Davis Instrumented Bicycle Corrupt Trial Log. figshare.

Moore, Jason; Hubbard, Mont (2014): Instrumented Bicycle Raw Data HDF5. figshare.

Moore, Jason; Lange, P.D.L de (2013): Bicycle Rider Control Identification. figshare.

Grant Information

This material is partially based upon work supported by the National Science Foundation under Grant No. 0928339. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.