Apptronik patents
Founders: you may want to check with counsel before reading competitor patents in depth.
Listed for reference, not legal analysis.
15 US documents · 5 granted, 10 applications · since Apr 14, 2025 · Google Patents + USPTO ODP · US filings only
Compare · US filings only · published or granted since Apr 14, 2025
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 · 5
Linear, radially stacked and dynamic actuators. Apptronik says Apollo 2 uses its 'patented actuator technology', designed for 90%+ efficiency and mass manufacturability, so these likely relate to Apollo's actuation.
Likely tied to: Apptronik - Apollo 2
Linear actuator
A linear actuator includes a housing; a motor module that includes a motor; and a drivetrain module coupled to the motor module.
Radially stacked actuator
A compact actuator that stacks the motor, a spring and a gearbox radially, with the spring mounted between the motor and the actuator base.
Dynamic robot actuator
A robotic actuator includes a mechanical ground, a motor coupled to the mechanical ground, a gearbox, and an actuator output coupled to an output of the gearbox.
Linear actuator
A linear actuator with a motor module and a ball-screw drivetrain that extends and retracts a rod.
Robotic actuator
A robot actuator with a motor driving a two-stage planetary gearbox around a hollow central shaft.
Humanoid body and arms · 5
A humanoid body built from pairs of linear actuators, plus a gravity-compensated arm (a 2018-priority family). Likely tied to Apollo's design lineage (inference).
Likely tied to: Apptronik - Apollo 2
Robotic manipulator having at least one spring compensated joint
A robot arm whose joints use adjustable springs in a four-bar linkage to offset gravity, so the motors need less effort.
Humanoid robot
A method of operating a robot whose body joints are driven by pairs of linear actuators.
Robotic manipulator having at least one spring compensated joint
A robot arm whose joints use adjustable springs in a four-bar linkage to offset gravity (the published application in the same family).
Humanoid robot
A robot body whose joints are each driven by a pair of linear actuators working together to move the joint in two directions.
Humanoid robot
A method of operating a robot whose body joints are driven by pairs of linear actuators (a related grant in the same family as US20250360978A1).
Workflows and fleet software · 3
Coordinating humanoids with autonomous lift trucks in a warehouse. Likely related to Apptronik's Artemis orchestration software described on the Apollo 2 page (inference).
Likely tied to: Apptronik - Apollo 2
Managing robots in workflows
A control system that coordinates humanoid robots with an autonomous order-picker lift truck in a warehouse.
Managing robots in workflows
A control system that coordinates humanoid robots and autonomous mobile robots handling products from pallets in a commercial site.
Humanoid robot interface and workflow
Software that creates work tasks ('missions') for humanoid robots and assigns them to the robots.
Design patents · 1
Ornamental design protection for the robot's appearance.
Humanoid robot
Protects the ornamental (visual) design of a humanoid robot; design patents carry no functional claims.
Exoskeletons · 1
A hip-joint exoskeleton from a 2020 priority filing, likely from Apptronik's earlier exoskeleton work rather than Apollo.
Enhanced transparency exoskeleton
An increased transparency exoskeleton is provided that includes a hip joint assembly.
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.