Agility Robotics patents
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Listed for reference, not legal analysis.
46 US documents · 25 granted, 21 applications · since Apr 14, 2025 · Google Patents + USPTO ODP · US filings only
Compare · US filings only · published or granted since Apr 14, 2025
- Figure AI101
- Agility Robotics46
- Apptronik15
- Tesla (Optimus)3 robot-related
Applications and grants are counted separately, so one invention can appear twice. An ~18-month publication lag means these counts trail R&D. Tesla’s figure is robot-related only (vehicle parts excluded).
- Actuators and gearing 13
- Manipulation and tote handling 11
- Perception and AI training 7
- Safety and collaborative operation 6
- Docking and fleet operations 5
- Balance and new mobility designs 3
- Design patents 1
Actuators and gearing · 13
Several filings on cycloid gearboxes, strain-wave drive protection, load-distributing actuators and joints that carry power and wireless data. They likely relate to Digit's drivetrain durability; Agility does not publicly tie specific patents to Digit 5.
Actuator assembly with load-distribution features and related technology
An actuator assembly in accordance with at least some embodiments of the present technology includes a first link, a second link, and a joint therebetween.
Joint Having Electrical Power Connection and Wireless Communication
A joint supporting wireless communication includes a first structure having an attached first wireless transceiver and a second structure having an attached second wireless transceiver.
Robot joint with wire routing for enhanced durability and related technology
A robot in accordance with at least some embodiments of the present technology includes a leg assembly.
Torque protection for strain wave drives
A torque-limiting actuator assembly includes a transmission coupled to a housing and a motor.
Cycloid gear assembly with partial contact and related technology
A gear assembly in accordance with at least some embodiments of the present technology includes first and second supports extending circumferentially around an assembly axis in first and second planes, respectively.
Cycloid gear assembly with partial contact and related technology
A gear assembly in accordance with at least some embodiments of the present technology includes first and second supports extending circumferentially around an assembly axis in first and second planes, respectively.
Cycloid gear assembly with alternating contact between transfer members and pins and related technology
A gear assembly in accordance with at least some embodiments of the present technology includes first and second supports extending circumferentially around an axis in first and second planes, respectively.
Threadable cycloid actuator
Disclosed is a threadable cycloid actuator having a cycloid drive with a through-bore tube, designed for the purpose of operatively connecting links in a kinematic chain and absorbing high torque and shock-load.
Cycloid gear assembly with alternating contact between transfer members and pins and related technology
A cycloid gearbox with two lobed transfer members in offset planes that take turns contacting the pins (the published application for US12498019B2).
Cycloid gear assembly with partial contact and related technology
A cycloid gearbox whose lobed transfer members make only partial contact with the pins (the grant of US20250264148A1's application).
Robot joint with wire routing for enhanced durability and related technology
A leg joint whose wiring carries built-in slack so it survives repeated joint rotation.
Cycloid gear assembly with alternating contact between transfer members and pins and related technology
A cycloid gearbox with two lobed transfer members in offset planes that take turns contacting the pins.
Actuator assembly with through-bore ring contacts and related technology
An actuator with ring contacts around its rotation axis (a slip ring) that keep power or signals connected through the rotating joint.
Manipulation and tote handling · 11
Picking, placing, nudging and carrying objects, including using the torso as a support. Digit's main job is moving totes (Digit 5 lists a 23 kg payload), so these likely map to that workflow.
Likely tied to: Digit 5 | Agility
Object placing via a mobile robot including nudging and related technology
A method in accordance with a particular embodiment of the present technology relates to placing objects via end effectors of mobile robots using both coarse and fine manipulation processes.
Generating references for robot-carried objects and related technology
A method in accordance with a particular embodiment of the present technology includes retrieving an object from a starting location by grasping the object between two end effectors of a mobile robot.
Robotic manipulation with bimanual and nonprehensile aspects and related technology
A method for a robot to choose how to handle an object, including using both arms or pushing it rather than gripping it.
Coordinating dynamic balancing with object manipulation by a robot and related technology
A method in accordance with at least some embodiments of the present technology includes retrieving, by a legged robot, an object from a pick target while the legged robot is in a first dynamic balancing state.
Torso protrusion for robotic manipulation of objects and related technology
A robot in accordance with at least some embodiments of the present technology includes a torso having a superior portion, an inferior portion, and an intermediate portion therebetween.
Order-fulfillment system including multipurpose mobile robots and related technology
An order-fulfillment system with a fleet of two-armed mobile robots split into sub-fleets by task, which moves robots between sub-fleets as orders change by swapping their end effectors.
Object placing via a mobile robot including nudging and related technology
A continuation on placing objects: the robot sets an object down roughly, opens its fingers, then nudges it into its final position with one finger.
Robotic manipulation with bimanual and nonprehensile aspects and related technology
A legged robot pulling a tote off a shelf: it tilts and slides the tote toward itself while lightly squeezing it between its arms, then grips harder, lifts it and walks away (in the same family as US12552606B1).
Generating references for robot-carried objects and related technology
A method for tracking the pose of an object a robot is carrying between its two hands, using perception data after pickup.
Generating references for robot-carried objects and related technology
A method for tracking the pose of an object a robot is carrying between its two hands, using perception data after pickup (a related filing in the same family).
Generating references for robot-carried objects and related technology
A method for tracking the pose of an object a robot is carrying between its two hands, using perception data after pickup (a related filing in the same family).
Perception and AI training · 7
Lidar on legged robots, filtering object detections, and using the environment to train ML models. Likely tied to Digit's perception stack; Agility says its solution was trained on 65,000 hours of operational data.
Likely tied to: Digit 5 | Agility
Lidar sensors of legged robots and related technology
A robot in accordance with at least some embodiments of the present technology includes a neck region through which the robot is configured to transmit and receive light.
Filtering object detection based on agreement with environment and related technology
A method in accordance with at least some embodiments of the present technology includes generating, by data-processing hardware operably associated with a mobile robot, a putative object estimate.
Leveraging environmental information to facilitate training and evaluating machine learning models and related technology
A method in accordance with at least some embodiments of the present technology includes providing an image and a plurality of indicators.
Generating object references from perception data in unstructured environments and related technology
A continuation on locating objects: the robot matches perceived features against a model of the object, tests several candidate alignments, and acts on the most accurate one.
Generating object references from perception data in unstructured environments and related technology
A method for a mobile robot to locate an object by testing candidate alignments between perceived features and the object's expected features.
Filtering object detection based on agreement with environment and related technology
A method for discarding a robot's object detections that don't match where nearby landmarks say the object should be.
Generating object references from perception data in unstructured environments and related technology
A method for a mobile robot to locate an object by testing candidate alignments between perceived features and the object's expected features (a related filing in the same family).
Safety and collaborative operation · 6
Hazard response, collision avoidance at blind intersections, and fall/fault handling. Agility markets Digit 5 around 'cooperative safety' for working near people, so these likely support that pitch (inference).
Likely tied to: Digit 5 | Agility
Collision avoidance at blind intersection for payload-carrying bipedal robot and related technology
A method for a bipedal robot carrying an item to approach a blind aisle intersection safely and avoid collisions.
Control of dynamically stable robot based on fault-state fall property and related technology
A method in accordance with at least some embodiments of the present technology includes generating a first motion command for changing a pose of a mobile robot.
Escalating hazard-response of dynamically stable mobile robot in a collaborative environment and related technology
A method in accordance with at least some embodiments of the present technology includes determining first hazard information about a human in an environment at a first time.
Method and system for improving stability in a legged robot
A robot has a body and at least two legs extending from the robot body, each leg comprising a plurality of links that are rotatably connected.
Escalating hazard-response of dynamically stable mobile robot in a collaborative environment and related technology
A mobile robot that first slows down, then repositions itself, as hazard information about a nearby person escalates (the published application for US12560948B2).
Escalating hazard-response of dynamically stable mobile robot in a collaborative environment and related technology
A mobile robot that first slows down, then repositions itself, as hazard information about a nearby person escalates (a related filing in the same family).
Docking and fleet operations · 5
Charging docks and fleet communication. Agility cites a 10:1 run-to-charge ratio and fleet management software for Digit 5, so these likely relate (inference).
Likely tied to: Digit 5 | Agility
Docks for legged robots and related technology
A system in accordance with at least some embodiments of the present technology includes a robot and a dock.
Differential Communication With Robots in a Fleet and Related Technology
A method for picking out one robot in a fleet, sending it its own commands, and remotely shutting down or disabling robots.
Docks for legged robots and related technology
A continuation on charging docks for legged robots: the robot hangs from a guided hook by a body-mounted hanger, which carries its weight and connects charging electrodes.
Docks for legged robots and related technology
A charging dock with a hook that a legged robot hangs from by a body-mounted hanger, with electrodes on both for charging.
Differential communication with robots in a fleet and related technology
A method for picking out one robot in a fleet, sending it its own commands, and remotely shutting down or disabling robots (a related filing in the same family as US20250189962A1).
Balance and new mobility designs · 3
Recent filings on a self-balancing wheeled robot, reaction wheels that steer the direction of a fall, and balancing torque across leg actuators. Agility has not publicly tied these to a product.
Dynamically stable wheeled robot and related technology
A wheeled mobile robot with an arm that can stand statically on its wheels or switch to actively balancing, using actuators between the wheels, a support and the body.
Reaction wheel systems for fall direction control in dynamically stable robots and related technology
A self-balancing robot with reaction wheels in its torso that, on a fault, steer its fall toward a safe direction away from people and obstacles.
Mobile robot leg actuator torque balancing and related technology
A way of operating a legged robot that keeps its leg links at set angles when standing and when crouched, so the load stays balanced across the leg actuators.
Design patents · 1
Ornamental design protection for the robot's appearance.
Robot
Protects the ornamental (visual) design of a robot; design patents carry no functional claims.
As of . Data: US publications via Google Patents and the USPTO Open Data Portal (ODP). Summaries come from the published abstract (and, for some recent filings, the first claim); claim scope can be narrower or different. Theme groupings and product links are our inference; a filing does not mean the design is in a shipping product.