For Docker to run properly, it needs a recent Linux kernel configured with specific support. The v4.1 kernel in the Wandboard is able to run Docker. However, the default configuration needs to be configured for Docker, for example enabling OverlayFS support, among other items.

The following useful script can be used to check whether a running kernel is correctly configured to run Docker: https://raw.githubusercontent.com/moby/moby/master/contrib/check-config.sh. 

Using it over the standard Wandboard kernel, we find out that the following items need to be added for a minimum Docker configuration:

CONFIG_POSIX_MQUEUE=y 
CONFIG_CGROUP_FREEZER=y 
CONFIG_CGROUP_DEVICE=y 
CONFIG_CPUSETS=y 
CONFIG_CGROUP_CPUACCT=y 
CONFIG_MEMCG=y 
CONFIG_CGROUP_SCHED=y 
CONFIG_NAMESPACES=y 
CONFIG_BRIDGE_NETFILTER=y 
CONFIG_NETFILTER_XT_MATCH_ADDRTYPE=y 
CONFIG_NETFILTER_XT_MATCH_IPVS=m 
CONFIG_BRIDGE=y 
CONFIG_VETH=y 
CONFIG_DEVPTS_MULTIPLE_INSTANCES=y 
CONFIG_OVERLAY_FS=y 

There are a lot of optional features that have been left out. Check the source code that accompanies the book for this working minimal configuration example.