Fable: Design of a modular robotic playware platform. - Moises Pacheco; Mikael Moghadam; A. Magnusson; B. Silverman; Henrik Hautop Lund; David Johan Christensen (ICRA, 2013)

Playful Interaction with Voice Sensing Modular Robots. - Bjarke Heesche; Ewen N. MacDonald; Rune Fogh; Moises Pacheco; David Johan Christensen (ICSR, 2013)

Fable II: Design of a modular robot for creative learning. - Moises Pacheco; Rune Fogh; Henrik Hautop Lund; David Johan Christensen (ICRA, 2015)

A Combination of Machine Learning and Cerebellar-like Neural Networks for the Motor Control and Motor Learning of the Fable Modular Robot. - Ismael Baira Ojeda; Silvia Tolu; Moises Pacheco; David Johan Christensen; Henrik Hautop Lund (J. Robotics Netw. Artif. Life, 2017)