My Master's Thesis titled Data-Driven and Keyword-Driven Test Automation Frameworks is available here in following formats:
As explained here, this thesis was the original base for Robot Framework. After browsing through the thesis few years after finishing it, most of it still seems to be valid. Lower level details about the concept and the pilot implementation are probably not that relevant, especially because the current framework has a much improved internal design.
Note that I wrote the thesis when my family name still was Laukkanen.