"The robot pedals with its feet at variable speed. The steering is done by the robot hands as with a normal bike, and remote controlled by a human. Stability is achieved by relying on the inertial centrifugal effect of the front wheel and on a gyro aided by a PID controller that takes over steering when driving in a straight line. Seems like when the robot steers his arms he also bends the waist leaning a bit into the turn. Braking is achieved by taking the feet off the pedals and pointing them down to the ground using the metal feet as friction breaks."