A robotic system which consists of self-contained modules equipped with sensors and actuators, which users can use to easily assemble a wide range of robots in a matter of seconds.

The robots are user-programmable on several levels of abstraction ranging from a simple visual programming language to powerful conventional ones. 

The Fable system has active and passive modules. The active modules have a set of electronic boards with a micro-controller, onboard power, and a radio device for wireless communication with a PC. These modules provide functionalities through actuation and sensing. 

Fable II

The robots are user-programmable on several levels of abstraction ranging from a simple visual programming language to powerful conventional ones.&nbsp;The Fable system has active and passive modules. The active modules have a set of electronic boards with a micro-controller, onboard power, and a radio device for wireless communication with a PC. These modules provide functionalities through actuation and sensing.&nbsp;Mechanical designPassive modules consist of a variety of shapes made out of empty plastic shells. The passive modules help give the robot structure shape.The connectors are genderless and four way redundant, allowing users to explore multiple connection possibilities between modules. Each connector has at least one ring of magnets that attaches to a matching set on the connecting end. The connector uses a set &nbsp;of flanges that lock the modules allowing the &nbsp;user to disconnect them by pulling them apart. &nbsp;ElectronicsThe system has a set of custom electronic boards, combined with commercially available boards &nbsp;which enables a modular electronic configuration. This enables to create different active modules by mixing electronics boards in novel configurations.System architectureFable has a low lag radio communication link to the modules, the user can program the distributed robots as if it was centralized and &nbsp;connected directly to a PC. The user PC is serially connected to a dongle that provides a shared 2 Mbit radio communication link between the user controlled application and the modules. Modules are addressed using an ID &nbsp;and their module type.

Describes related work. It continues by presenting the design of Fable, thatis: mechanics, electronics and software. Further in the paper exemplifies how robots can be assembled in  seconds,  programmed with Blockly and Python, and evaluates Fable as an educational platform based on programming sess

Fable II: Design of a Modular Robot for Creative Learning.

Describes the concept behind Fable. It continues by presenting the design of Fable, that is: mechanics, electronics and software. Further in the paper exemplifies how robots are assembled and programmed.

Fable: A Modular Robot for Students, Makers and Researchers.

Describes the mechanical design and  summarizes the electronic design of the Fable system. The software  architecture is described.  Describes a user test with the connector design as well as tests with moving and interactive robots.

Fable: Design of a Modular Robotic Playware Platform

Describes related work, the Fable system is described and the software architecture for smart sensor modules is described. Describes tests performed to study the system performance and the use of the system in an educational and a playful context.

Fable: Socially Interactive Modular Robot

Boards

Module Board

Dongle Board

Arduino Pro Mini

Radio Board

A robotic system which consists of self-contained modules equipped with sensors and actuators, which users can use to easily assemble a wide range of robots in a matter of seconds.

Boards
Module Board	11.1	V
	1000	mAh LiPo battery
Dongle Board	5	v USB powered
Arduino Pro Mini	AVR Atmega328, 3.3v, 8MHz
Radio Board	NRF24L01+,2.4GHz, 2MBit, SPI interface