Self propelled device with magnetic coupling

A self-propelled device comprising:

• a spherical housing;
• an internal drive system enclosed within the spherical housing and operable to cause the self-propelled device to roll;
• an internal structure enclosed within the spherical housing and coupled to the internal drive system, the internal structure including a magnet holder which holds a first set of magnetically interactive elements, wherein the magnet holder comprises a pivot mechanism that pivots the magnet holder relative to an axis of rotation of the internal drive system;
• an external accessory comprising a second set of magnetically interactive elements;
• a wireless interface to receive control commands from a controller device;
• and
• a control mechanism to implement the control commands, wherein implementing the control commands (i) causes the internal drive system to accelerate and maneuver the self-propelled device, and (ii) causes the pivot mechanism to pivot the external accessory relative to the spherical housing to coincide with a directional input of a control command;
• wherein the first set of magnetically interactive elements and the second set of magnetically interactive elements maintain a magnetic interaction through the spherical housing when the spherical housing rolls and when the pivot mechanism pivots the magnetic holder, the magnetic interaction causing the external accessory to pivot when the magnet holder pivots.