A 2019 project from Harvard/Caltech featuring a flat sheet that folds into a wheel when heated.
You can find the full paper on arXiv and the accompanying open-source implementation on GitHub . Other "Rollbot" Projects rollbot.zip
A commercial product used to automatically advance filter paper in reef tanks. A 2019 project from Harvard/Caltech featuring a flat
A conceptual robot debuted at CES 2020 designed to deliver toilet paper via smartphone control. rollbot.zip
Derivation of how internal masses drive spherical rolling.
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
Quasi-static state evaluations for the robot's movement.