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 1.2 Where stability comes from at slow speeds:

If a 2-Wheeler is moving forward as in (A), it may fall to one side as in (B). But the rider does not want to fall and stays up along the vertical gray line as in (C). So as in (D), one arm automatically pushes and the other pulls the handlebar towards where the 2-Wheeler falls, in the direction of the small black arrows. The front wheel is then oriented in the direction of the Bigger black arrow as in (E). And this generates a centrifugal force along the red arrow, which brings the 2-Wheeler back to the vertical as in (F).

Please note:  Strictly speaking and looking at the 2-Wheeler from the exterior, it rather is the front tire ground-contact-point that goes to the right under the vehicle to bring it back up. But in the 2-Wheeler's system of reference, it is felt as a centrifugal force in the direction of the red arrow. More information can be obtained on this in Mr. Tony Foale's book: Motorcycle Handling and Chassis Design and on his site at:  www.tonyfoale.com

This works on both sides so that the 2-Wheeler is stable. Thus, the surprising existence of this mechanism renders 2-Wheelers stable, even at slow speeds and without any special equilibrium skill.  By contrast, only a minority of humans can remain upright on a 2-Wheeler at stand-still or on a monocycle, where the Torso-Arms-Handlebar mechanism is ineffective.

So the Torso-Arms-Handlebar mechanism clearly and simply explains where stability comes from at slow speeds WITH hands on the handlebar.

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