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How is cycle ball played on bicycles?

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Cycle ball is an indoor cycling sport derived from association football that is played by two opposing teams of two riders each.1

The objective of the game is to drive a ball, which measures approximately 18 cm (7 inches) in diameter, into the opposing team's goal. Players achieve this by manipulating the ball using the wheels of their bicycles. The sport is governed internationally by the Union Cycliste Internationale (UCI), which oversees annual competitions, including the world championship.1