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This paper details the design of a minimalist spherical robot that uses only one actuator to achieve controlled rolling motion.
Rollbot: a Spherical Robot Driven by a Single Actuator - GitHub rollbot.zip
Quasi-static state evaluations for the robot's movement. This paper details the design of a minimalist
You can find the full paper on arXiv and the accompanying open-source implementation on GitHub . Other "Rollbot" Projects rollbot.zip
Depending on your specific interest, "Rollbot" also refers to:
Implementation details for stable circular motion and navigation.
The search result most closely matching your query for a "complete paper" is the research titled published on arXiv in April 2024. Rollbot Research Overview