Quasi-static state evaluations for the robot's movement.
Implementation details for stable circular motion and navigation.
You can find the full paper on arXiv and the accompanying open-source implementation on GitHub . Other "Rollbot" Projects
This paper details the design of a minimalist spherical robot that uses only one actuator to achieve controlled rolling motion.
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