Historians disagree about the actual inventor of the bicycle, although the celerifere, which was a precursor to bicycles, was invented in 1790 by Comte Med de Sivrac. Historians generally agree that Ernest Michaux, a French carriage maker, invented one of the earliest bicycles, with rotary cranks and pedals, in 1861.
The celerifere resembled a bicycle, but it did not have any pedals. It had a seat and four wheels, unlike the later two-wheeled version.
Although a sketch of the first bicycle is widely attributed to Leonardo DaVinci in 1490, DaVinci did not envision the first bicycle or sketch it. That theory has been debunked.