The physics
A body that rolls without slipping moves and spins at once. Its centre moves at v, and v = ωR.
KE = ½Mv² + ½Iω² = ½Mv²(1 + β) I = βMR²
β is 1 for a ring and 1/2 for a disc. It is 2/5 for a solid ball and 2/3 for a hollow ball. A bigger β puts more of the KE into spin.
from rest down a drop h: v = √(2gh / (1 + β)) on a slope: a = g sin θ / (1 + β)
Friction at the contact spins the roller up. Rolling needs f = βMa. The grip must give it, so μ ≥ β tan θ / (1 + β).
A roller's L about a floor point has two parts: spin and moving.
L = Icmω + MvR