The Bipolar has evolved. Initially, rear was controlled / locked by the seat back, then loosen, and now completely free. The two-piece compact seat was also too uncomfortable, especially at lower back where the 2 pieces meet, so it's replaced by a full seat which brings back upper body control. The free rear wheel auxiliary steering is a little different, but can be learned in minutes. AWS steering was not the original goal, but now that the rear pivot is not occupied by the seat post, the rear wheel can be controlled by a handle bar for a RWS study, should be fun... Walking was horrible (embarrassing among pedestrians), as both wheels want to collapse/flop, plus the 2-piece seat was not helping either. Together with the new seat, a locking mechanism made from seat post / clamp couples the wheels so they can roll together when folded. Now walking the bike is quite pleasant, kind of like a Brompton but without the roller wheels... http://www.youtube.com/watch?v=itKxrl2Syk0 Cheers, Vi