Bicycle stability in no-hands riding

With great pleasure, I reread the article “The Stability of the Bicycle” (Physics Today, September 2006, page 51, reprinted from 1970). As an enthusiast who has bicycled daily for approximately 40 years, I was in resonance with much of the article, especially the discussion of no-hands riding, which I recklessly persist in doing. I was in the middle of my undergraduate career when this article first appeared, and my overall understanding of it at the time was feeble, but this article is one of the few in Physics Today that I remember clearly, even after 36 years.