Accessory interfaces for a mobile manipulator robot

A mechanical coupler for coupling a robot and an accessory, the mechanical coupler comprising:

• a first connector comprising:
• a first receiving area configured to receive a first pin of the robot through a first opening, the first receiving area having at least one first dimension;
• a first moveable latch configured to constrain motion of the first pin when the first pin is received within the first receiving area and when a first protrusion of the first moveable latch is disposed in the first opening;
• a first mechanical fuse including a flexure configured to enable motion of the first moveable latch to release the first pin at a first load;
• and
• a second mechanical fuse including a break-off pin configured to break at a second load greater than the first load;
• and
• a second connector comprising:
• a second receiving area configured to receive a second pin of the robot through a second opening, the second receiving area having at least one second dimension different from the at least one first dimension;
• and
• a second moveable latch configured to constrain motion of the second pin when the second pin is received within the second receiving area and when a second protrusion of the second moveable latch is disposed in the second opening,
• wherein the mechanical coupler is configured to constrain rotation between the accessory and the robot about a first axis and to constrain translation between the accessory and the robot along second and third axes, wherein the second and third axes are each perpendicular to the first axis, and wherein the third axis is perpendicular to the second axis.