It’s not at all immediately obvious as to why the bicycle stands upright or turns. The physics is non-trivial and, based on the drawings, offsetting the center of the wheel from the axis of thw wheel being turned was not a thing. But it is this feature, that allows the modern bike to maneuver. Counter-steering is very unintuitive. If you lack the underlying physics or, in fact, personal experience, the bicycle sounds utterly mad. It doesn’t make sense. Which is why people did not work on it.