Abstract: A mobile robot includes: a chassis; a locomotive assembly secured to the chassis; a coupling device disposed on the chassis, the coupling device comprising a base with first and second pins configured to extend from the base and engage with a target object; and a processor configured to: control the locomotive assembly to position the coupling device relative to the target object; select between (i) an intermediate state, and (ii) a docked state; in response to selecting the intermediate state, control the coupling device to permit rotation of the chassis relative to the target object, and constrain translation of the chassis relative to the target object; and in response to selecting the docked state, control the coupling device to constrain rotation and translation of the chassis relative to the target object.