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Some studies of bicycle stability have applied the Whipple Carvallo Bicycle Model (WCBM), which describes the roll and steer behaviour of a bicycle, allowing analysis of its characteristics of stability and in particular self-stability. One of the limitations of this model is that all structural elements are assumed to be rigid bodies. In this paper, the WCBM is extended to include the effect of front assembly lateral compliance, and analysis focuses on study of the open loop stability of adoi:10.1504/ijvd.2018.10011996 fatcat:o34t42g2srdazgc4qk23nqz5rq