A crankset for a pedal-driven vehicle having a frame, the crankset comprising two crank arm assemblies, each one of the crank arm assemblies comprising: a crank arm (12, 312, 412, 512) rotatably mounted to the frame and having a rotation center at a rotation end thereof; a spindle (41, 341, 441, 541) operatively connected to the crank arm (12, 312, 412, 512) at a spindle end spaced-apart from the rotation end and rotatable about a spindle rotation axis; a pedal (50, 350, 450, 550) mounted to the spindle (41, 341, 441, 541); a rotatable member (22, 122, 222) operatively engaged with the spindle (41, 341, 441, 541); a stationary member secured to the frame and close to the rotation end of the crank arm (12, 312, 412, 512); a connecting assembly operatively engaged with the stationary member and the rotatable member (22, 122, 222) and configured to engage the rotatable member (22, 122, 222) in rotation upon rotation of the crank arm (12, 312, 412, 512) about the rotation center thereof; and a pedal angular control assembly (40, 340, 440, 540) operatively connected to the rotatable member (22, 122, 222), the pedal angular control assembly (40, 340, 440, 540) comprising at least one cam (44, 344, 486, 544) operatively connected to the rotatable member (22, 122, 222) and operatively engaged with the pedal (50, 350, 450, 550) and a cam connecting assembly (45, (342, 346, 348), (442,448), 545) configured to engage in rotation the at least one cam (44, 344, 486, 544) upon rotation of the spindle (41, 341, 441, 541), the pedal angular control assembly (40, 340, 440, 540) varying an angle of the pedal (50, 350, 450, 550) according to a predetermined angular sequence, during a complete rotation of the crank arm (12, 312, 412, 512) about the rotation center; characterized in that the stationary member comprises a stationary gear (20a, 120a, 220a) concentric with the rotation center of the crank arm (12, 312, 412, 512). a crank arm (12, 312, 412, 512) rotatably mounted to the frame and having a rotation center at a rotation end thereof; a spindle (41, 341, 441, 541) operatively connected to the crank arm (12, 312, 412, 512) at a spindle end spaced-apart from the rotation end and rotatable about a spindle rotation axis; a pedal (50, 350, 450, 550) mounted to the spindle (41, 341, 441, 541); a rotatable member (22, 122, 222) operatively engaged with the spindle (41, 341, 441, 541); a stationary member secured to the frame and close to the rotation end of the crank arm (12, 312, 412, 512); a connecting assembly operatively engaged with the stationary member and the rotatable member (22, 122, 222) and configured to engage the rotatable member (22, 122, 222) in rotation upon rotation of the crank arm (12, 312, 412, 512) about the rotation center thereof; and a pedal angular control assembly (40, 340, 440, 540) operatively connected to the rotatable member (22, 122, 222), the pedal angular control assembly (40, 340, 440, 540) comprising at least one cam (44, 344, 486, 544) operatively connected to the rotatable member (22, 122, 222) and operatively engaged with the pedal (50, 350, 450, 550) and a cam connecting assembly (45, (342, 346, 348), (442,448), 545) configured to engage in rotation the at least one cam (44, 344, 486, 544) upon rotation of the spindle (41, 341, 441, 541), the pedal angular control assembly (40, 340, 440, 540) varying an angle of the pedal (50, 350, 450, 550) according to a predetermined angular sequence, during a complete rotation of the crank arm (12, 312, 412, 512) about the rotation center; characterized in that the stationary member comprises a stationary gear (20a, 120a, 220a) concentric with the rotation center of the crank arm (12, 312, 412, 512).