Lego Logo predated Capsela and was mostly inspired from Seymour Papert's 1980 book, Mindstorms. It ran on an Apple II through a special daughtercard and was amazing.
I got to play with Capsela as well, but only ever the basic kit without any expansions. Mostly because of the astronomical price of the parts. I wouldn't be surprised if there is someone with a 3D printer trying to design a printable modular motorized construction kit.