Robo Topobo: improvisational performance with robotic toys. - Hayes Raffle; Laura Yip; Hiroshi Ishii 001 (SIGGRAPH Sketches, 2006)

Remix and robo: sampling, sequencing and real-time control of a tangible robotic construction system. - Hayes Raffle; Laura Yip; Hiroshi Ishii 001 (SIGGRAPH Educators Program, 2007)