According to physiological and cycling characteristics, a model of human-bicycle was built, and its parameters were obtained from body measurement and empirical formula. Through this model, the characteristics such as associated effect of bone, cycling efficiency, dead point and dead zone of cycling were analyzed. After that, the methods of Lagrangian and Newton-Euler were adopted to establish the kinematical and dynamical models and obtained the equivalent moment for bicycle driving as well as the forces and motions of joints. All that devoted to the theoretical basis for bicycle research and design.