Walking in a straight line and riding a bicycle are voluntary actions and are controlled by cerebellum. Cerebellum control voluntary actions such as body posture and balance of the body. Involuntary actions such as vomiting, blood pressure are under the control of medulla of hind brain. So cerebellum control walking in straight line and riding a bicycle which are voluntary in nature. Some of the voluntary functions are also controlled by cerebellum such as walking in straight line, riding a bicycle.