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The story that I know is that it's a mounting hole pattern. If you look at the PR2 robot, there are mounting plates on the sides of the "neck" and on the top of the head, where you can bolt on extra hardware. This makes the robot more versatile, since you can add stuff to it. The ROS pattern is meant to be a visualization of these mounting holes, with the implication that ROS is also versatile, and that you can add extra stuff onto it.
Someone from the early Willow Garage days might be able to confirm this or, alternatively, tell me that I'm making things up.
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