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This is possible but it's finicky, and I don't know how possible or ideal it is with the default puppet. I made it work in a really buggy test scene with a custom ant puppet on the inside of a hollow sphere with a Force Applier in the middle pointing outwards. You could do this inside a loop, provided that the strength of the force applier was modulated by the puppets speed. That way if you stop at the top, the force stops too and he falls down.
The rotation can be achieved a number of ways depending on what your scene behaves like, for me I used a gyro with the arrow direction controlled by a vector generated by inverting the orientation of a laser pointing from the puppet to the force applier. This was ugly and and took a few goes and wasn't exactly in a publishable state but I think you can go from there to get things going.