It's unlikely that you'll come across a AVR that won't be up to the task of driving a domestic speaker system or that will cause damage through incompatibility but it's still a good idea to check the specifications to try and get a good match.
Most home cinema speakers will have an average impedance of 4 -8 Ohms which will be listed by the manufacturer in its specifications under 'nominal impendence'. This figure should ideally sit within the impendence range that an amplifier supports, because if a speaker has a particularly low impedance that an AVR is not designed to handle, it could potentially overload the power supply and cause damage.