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You are correct, a lot of forces are canceling out on the long term(instead of instantaneously) it can easily be manipulated into increasing periods of unbalance in one direction until a point is reached then a separate mechanism is used to force it to a balanced state. Conservation of energy is always in effect. Gyroscope effects that bike wheels can be added with other separate gyroscopes. Thus, a self righting bike. The effect called precession is understood well enough.

How a human is able to manipulate it is simply by using the force of gravity from shifting their weight(moving the center of gravity). However, the movement of the center of gravity has to be perpendicular to the wheels axle. The steeper the angle of attack the wheel has to the ground, there will need to be an exponential increase in distance to move the center of gravity. Once the wheel is parallel to the ground, there will be an undefined distance needed to move the center of gravity.