The following publications touch on CSbots, the CREATE lab research program that resulted in the Finch.  They are arranged in reverse chronological order:

Tom Lauwers, Aligning Capabilities of Interactive Educational Tools to Learner Goals, Ph.D Thesis, Carnegie Mellon, April 2010.  (Chapter 6 covers the Finch research program in detail)

Tom Lauwers, Designing the Finch: Creating a Robot Aligned to Computer Science Concepts, Proceedings of the First Symposium on Educational Applications of AI, July 2010.
Tom Lauwers, Emily Hamner, and Illah Nourbakhsh, A strategy for collaborative outreach: lessons from the CSbots project, SIGCSE Proceedings, pg 315-319, March 2010.
Tom Lauwers, Illah Nourbakhsh, and Emily Hamner, CSbots: Design and Deployment of a Robot Designed for the CS1 Classroom, SIGCSE Proceedings, March 2009.
Tom Lauwers, Illah Nourbakhsh, and Emily Hamner, CSbots: A case study in introducing educational technology to a classroom setting, tech. report CMU-RI-TR-08-41, Robotics Institute, Carnegie Mellon University, October, 2008.
Tom Lauwers and Illah Nourbakhsh, Informing curricular design by surveying CS1 educators, in Proceedings of the 4th International Symposium on Autonomous Minirobots for Research and Edutainment, 2007.