Rollbot.zip -

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. rollbot.zip

Depending on your specific interest, "Rollbot" also refers to: You can find the full paper on arXiv

Derivation of how internal masses drive spherical rolling. rollbot.zip