Figure AI patents
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Listed for reference, not legal analysis.
101 US documents · 29 granted, 72 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).
- Body structure: torso, head, wiring, covers 33
- AI models and control software 23
- Hands and end effectors 12
- Actuators, joints and torque sensing 11
- Docking, charging and support 7
- Legs and locomotion 6
- Training-data collection 5
- Manufacturing 4
Body structure: torso, head, wiring, covers · 33
Whole-body packaging: head and neck, torso layout, internal through-joint wiring and soft exterior covers. Figure 03's 'soft goods' and redesigned sensory suite are likely related to the covering and head filings (inference).
Likely tied to: Introducing Figure 03
Humanoid robot with advanced wiring assembly
A humanoid robot includes first and second actuators interconnected by a wire bundle routed internally through the actuator structure rather than along its periphery.
Head and neck assembly of a bipedal robot
A bipedal robot includes an upper region includes a head and neck assembly having a neck portion and a head portion coupled to the neck portion.
Torso of a humanoid robot
The present disclosure provides a humanoid robot with an arrangement of components that allows the robot to mimic the movements, functionality and capabilities of a human being.
Robot head
Protects the ornamental (visual) design of a robot head; design patents carry no functional claims.
Head and neck assembly of a humanoid robot
A humanoid robot includes an upper region includes a head and neck assembly having a neck portion and a head portion coupled to the neck portion.
Humanoid robot
A humanoid robot layout describing how the arms, wrists and hands are positioned and move relative to the torso.
Sensors of a humanoid robot
The present disclosure provides a bipedal robot comprising a torso, head, arm assembly, and end effector.
Humanoid robot
Protects the ornamental (visual) design of a humanoid robot; design patents carry no functional claims.
Exterior covering system for a humanoid robot
A protective outer covering for a humanoid, with a lattice-structured padding layer under the cover to absorb impacts.
Humanoid robot with advanced wiring assembly
Various advanced wiring assemblies for a humanoid robot are disclosed.
Head and neck assembly of a humanoid robot
A humanlike head and neck assembly for a humanoid robot, with its electronics housed inside the head.
Head and neck assembly of a bipedal robot
A humanlike head and neck for a bipedal robot whose head shell includes a built-in lighting assembly.
Humanoid robot with advanced wiring assembly
Wiring that runs through the center of each actuator, linking circuit boards in neighboring joints (an earlier publication in the same family as US12709029B2).
Head and neck assembly for a humanoid robot
A humanoid robot includes an upper region includes a head and neck assembly having a neck portion and a head portion coupled to the neck portion.
Humanoid robot
A humanoid robot layout describing how the arms, wrists and hands are positioned and move relative to the torso (the published application for US12605824B2's family).
Exterior covering system for a humanoid robot
An exterior covering system that wraps a humanoid's torso and limbs.
Head and neck assembly of a humanoid robot
A humanoid robot includes an upper region includes a head and neck assembly having a neck portion and a head portion coupled to the neck portion.
Head and neck assembly for a humanoid robot
A humanlike head and neck whose head has front and rear shells, with a light that illuminates the seam between them.
Head and neck assembly of a bipedal robot
A humanlike head and neck whose head has front and rear shells, with a light that illuminates the seam between them, for a bipedal robot.
Head and neck assembly of a humanoid robot
A humanlike head and neck whose head has front and rear shells, with a light that illuminates the seam between them (a related filing in the same family).
Head and neck assembly of a bipedal robot
A humanlike head and neck whose head has front and rear shells, with a light that illuminates the seam between them, for a bipedal robot (the published application for US12447628B1).
Head and neck assembly of a humanoid robot
A humanlike head and neck whose head has front and rear shells, with a light that illuminates the seam between them (the grant of US20250326131A1's application).
Head and neck assembly of a bipedal robot
A humanlike head and neck whose head has front and rear shells, with a light that illuminates the seam between them, for a bipedal robot (a continuation in the same family).
Humanoid robot with a central region having an arrangement of actuator assemblies and components
Despite its title (a central region with actuators), the published abstract and claims cover a bipedal robot's head with front and rear shells and lights that illuminate the region between them, in the same family as the head-lighting filings.
Head and neck assembly of a humanoid robot
A humanlike head and neck whose front and rear head shells house the robot's electronics.
Head and neck assembly of a humanoid robot
A humanlike head and neck whose front and rear head shells house the robot's electronics (the published application for US12539618B1).
Humanoid robot with advanced wiring assembly
Wiring that passes through an opening in each actuator's cover to connect circuit boards in neighboring actuators.
Head and neck assembly of a humanoid robot
A humanlike head and neck whose front and rear head shells house the robot's electronics (a continuation in the same family).
Humanoid robot with advanced wiring assembly
Wiring that runs through an opening in each actuator to connect circuit boards in neighboring actuators.
Humanoid robot
A continuation on the overall humanoid design: the abstract covers a wrist and hand (a two-DOF finger assembly and three-DOF thumb) with a very wide range of wrist angles, while the claims cover a 45+ degree-of-freedom body run by a two-part AI action model trained partly on human demonstration video.
Humanoid robot with advanced wiring assembly
A wire bundle that runs through openings in one actuator's output and cover to connect the circuit boards of two neighboring actuators (the grant of a previously published application).
Head and neck assembly of a robot
A humanlike head and neck with front and rear shells housing the electronics; the claims add a doubly curved front shell and a microphone (the grant of a previously published application).
Humanoid robot
Protects the ornamental (visual) design of a humanoid robot; design patents carry no functional claims.
AI models and control software · 23
Many filings cover 'action models' (learned policies, including a 'bipedal action model'), control and fleet task assignment. They likely relate to Helix, Figure's vision-language-action model, and its whole-body control (inference).
Likely tied to: Helix: A Vision-Language-Action Model for Generalist Humanoid Control
Dynamic task assignment amongst communicating humanoid robots
A method for splitting a high-level job into sub-tasks and assigning them across several humanoid robots based on energy use, time and robot capability.
Bipedal action model for humanoid robot
A humanoid with at least 30 degrees of freedom, cameras and joint sensors, controlled by a layered 'bipedal action model' AI.
Training and use of a bipedal action model for humanoid robot
A method for training a layered robot-control AI, starting from a controller trained in simulation with reinforcement learning and adding higher-level goal-setting models.
Bipedal action model for humanoid robot
A two-level robot-control AI in which a slower model handles vision and language instructions and a faster model turns them into motion.
Bipedal action model for humanoid robot
A humanoid with at least 30 degrees of freedom whose cameras and body sensors feed a layered 'bipedal action model' that controls its movement.
Bipedal action model for humanoid robot
A humanoid with at least 30 degrees of freedom whose cameras and body sensors feed a layered 'bipedal action model' that controls its movement (a related filing in the same family).
Action model for a robot
A robot whose control AI combines a model trained on video, which responds to spoken commands, with a second model that turns its output into movement.
System and method for efficient control of a humanoid robot
The present disclosure provides a method for controlling a humanoid robot.
Annotation model for humanoid robot data
The present disclosure provides a method for generating annotation data for robotic training using a hierarchical transformer-based model with multiple layers.
System and method for training and using a bipedal spatial perception model
A humanoid robot system comprises vision sensors for capturing image data, a computing architecture with processing hardware and memory, and a bipedal spatial perception model.
System and method for calibration of humanoid robots
A method for calibrating a humanoid by moving it through set poses and checking its body position with its own cameras.
Bipedal action model for humanoid robot
A robot-control system pairing a large (over 1 billion parameter) vision-and-language model with a faster model that outputs motor commands.
Management of multiple modes for humanoid robot
The present disclosure provides a system for managing operational modes of a humanoid robot.
Compensation for a service associated with a humanoid robot with advanced kinematics
Various systems and methods are described for obtaining compensation for tasks performed by a humanoid robot, where the humanoid robot is associated with a first party.
Bipedal action model for humanoid robot
A humanoid running two AI models on separate GPUs in its torso: one turns spoken commands into processed data, the other turns that into motion.
System and method for efficient control of a humanoid robot
A control method that adds a 'phantom' inverse-kinematics task to keep the robot in a sensible pose while respecting safety limits.
Bipedal action model for humanoid robot
A humanoid running two AI models on separate GPUs in its torso: one turns spoken commands into processed data, the other turns that into motion (the grant of US20260064125A1's application).
Dynamic task assignment amongst communicating humanoid robots
A method for splitting a high-level job into sub-tasks and assigning them across several humanoid robots based on energy use, time and robot capability (an application in the same family as US12697720B2).
Action model for robot
A robot-control AI that combines spoken commands and sensor data with real-time knowledge retrieved from outside sources, before a second model controls movement.
Bipedal action model for humanoid robot
A humanoid with at least 30 degrees of freedom, cameras and joint sensors, controlled by a layered 'bipedal action model' AI (a related filing in the same family).
System and method for calibration of a component of a humanoid robot
A rig for calibrating the sensors in a robot component before assembly: a separate machine moves the component through poses in front of a known pattern, and the results are stored with the part or robot.
System and method for calibration of humanoid robots
Self-calibration for humanoids: the robot moves through set poses, films its own body with its cameras, and an AI model trained on synthetic images corrects its joint (kinematic) offsets (the grant of a previously published application).
Proprioception system for a humanoid robot
A humanoid that works out the exact position of its own body parts by running a self-perception model on images from its head and hand cameras, and feeds those poses to its AI controller in a closed loop.
Hands and end effectors · 12
Figure says Figure 03 has a fully redesigned hand system with palm cameras and fingertip tactile sensing. These filings likely relate to that hand work, though a filing is not proof a design is used in the product.
Likely tied to: Introducing Figure 03
End effector of a humanoid robot
The present disclosure provides a humanoid robot comprising a torso, a head coupled to the torso, an arm assembly coupled to the torso, and an end effector coupled to the arm assembly at a distal end of the arm assembly.
End effector of a humanoid robot
A humanoid hand with a fingertip touch sensor built on a small flexing bridge structure.
Kinematics of a mechanical end effector
A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies.
Kinematics of a mechanical end effector for a humanoid robot
The present disclosure provides a thumb assembly for an end effector for a humanoid robot.
Lower arm assembly of a robot
The disclosure presents a humanoid robot with an upper region (head, torso, arms with forearm assemblies, end effectors), lower region (legs), and connecting central region.
Mechanical end effector
The present disclosure provides an underactuated end effector for a humanoid robot.
Mechanical end effector
A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies.
Kinematics of a mechanical end effector
A humanoid hand built from identical, removable finger modules, each self-contained and driven by its own single motor.
Kinematics of a mechanical end effector
A humanoid hand built from identical, removable finger modules, each self-contained and driven by its own single motor (the published application in the same family as US12420434B1).
Kinematics of a mechanical end effector for a humanoid robot
A two-motor thumb for a humanoid hand, with jointed segments and a geared drive for bending and moving the thumb.
Lower arm assembly of a robot
A humanoid hand whose housing has internal walls forming channels for the tendons that move the fingers.
End effector of a humanoid robot
A humanoid hand (end effector) with a tactile sensor: a bridge of three angled flexure arms carrying strain gauges, plus electronics that process their readings and an energy-absorbing element.
Actuators, joints and torque sensing · 11
A large cluster on the robot's motors, gearing, clutches and torque sensing. Figure says nearly every Figure 03 component was redesigned for cost and high-volume manufacturing at BotQ, so shared actuator parts likely serve that goal (inference).
Likely tied to: Introducing Figure 03
Humanoid robot with a central region having an arrangement of actuator assemblies and components
A humanoid robot includes an upper region, a lower region, and a central region.
Humanoid robot with advanced actuator
A humanoid robot comprises a torso, arm, and leg, with an actuator configured to actuate these components.
Reaction-type torque cells
Various embodiments of a torque cell including a flexure element and sensor assembly are disclosed.
Method for controlling one or more actuators of a humanoid robot
A method for planning each footstep, using sensed terrain height along the step, to control a humanoid's leg actuators while walking.
Humanoid robot having common actuator components
A humanoid that uses small low-torque motors in the forearm and hand and larger motors between the torso and elbow, built from shared actuator parts.
Clutch for an actuator for a humanoid robot
A friction clutch inside a robot actuator that slips under excess torque to protect the gearbox.
Humanoid robot having advanced joint assemblies
The present disclosure provides a humanoid robot comprising an actuator with a rotational axis and a momentary peak torque rating greater than 70 N-m.
Humanoid robot with a central region having an arrangement of actuator assemblies and components
A humanoid whose central region between torso and legs is arranged to let the upper and lower body move relative to each other.
Humanoid robot with a central region having an arrangement of actuator assemblies and components
A humanoid whose central region between torso and legs is arranged to let the upper and lower body move relative to each other (a continuation in the same family).
Reaction-type torque cells
A continuation on joint torque sensing: the abstract describes a torque cell whose ring-shaped flexure has radial beams carrying strain gauges in one plane, while the claims cover a layered circuit board with a central hole for a humanoid's actuator.
Elbow assembly of a humanoid robot
An elbow for a humanoid arm in which U-shaped forearm and upper-arm parts together wrap around most of the elbow actuator.
Docking, charging and support · 7
Figure says Figure 03 charges wirelessly at 2 kW through coils in its feet by stepping onto a stand, and can dock itself in a home. The docking, charging and overhead-support filings likely relate to that feature.
Likely tied to: Introducing Figure 03
Docking station for a humanoid robot
A docking station for a humanoid robot includes a base configured to receive the robot's left and right feet, and a stand assembly extending upward from the base.
Docking station for a humanoid robot
A docking stand that supports a humanoid robot under its shoulders and waist, for example while parked or charging.
Humanoid robot harness system
A removable harness on a humanoid's torso that clips into anchor points on its waist, so the robot can hang upright from a support stand with the load carried by the waist.
Overhead support and charging system for a humanoid robot
An overhead support and charging stand: a cantilevered arm lowers a tether that both holds a humanoid up and charges it, through couplers and a powered harness on the robot's torso.
Charging system for humanoid robot
Wireless charging for a fleet of humanoids: several mats with transmitter coils that charge a robot standing on them, run from one central unit that talks to the robots and splits power between the mats.
Docking station for humanoid robot
A docking station that charges a humanoid wirelessly as it stands on a ramped mat, with temperature sensors so the controller can turn down the charging field if the mat gets too hot.
Docking station for humanoid robot
A separate docking-station filing from US20260269639A1 with the same wireless charging-mat abstract; its claims cover a humanoid with a magnetic receptacle on its torso that takes a magnetic charging cable and contains a wireless receiver coil.
Legs and locomotion · 6
Leg, hip and ankle hardware and kinematics for walking. These are core to any biped; no specific product claim is tied to them publicly.
Humanoid robot with an ankle region
A humanoid robot includes an upper region, a lower region, and a central region.
Leg of a humanoid robot
A humanoid robot foot and ankle with a spring-returned hinged toe, a flexible split sole, a removable shoe-like cover and a wireless charging coil in the foot (the published abstract is a USPTO/applicant error describing an unrelated robot; this summary is from the filing's own summary section).
Humanoid robot with advanced kinematics
A humanoid body layout covering the torso, spine, pelvis and legs, focused on how the hip and leg joints are arranged.
Hip assembly and kinematics of a humanoid robot
The present disclosure provides a humanoid robot with an arrangement of components that allows the robot to mimic the movements, functionality and capabilities of a human being.
Humanoid robot with advanced kinematics
A humanoid body layout in which the hip flex actuators are angled downward, covering the torso, spine, pelvis and legs.
Humanoid robot with advanced kinematics
A continuation on body and leg kinematics: hip flex actuators angled downward that also pitch the torso, so no separate torso pitch actuator is needed, plus knee actuators stronger than the torso twist actuator.
Training-data collection · 5
Systems for collecting robot and human data. Figure has described pretraining on human video (Project Go-Big) and 10 Gbps fleet data offload on Figure 03, so these likely support its data pipeline (inference).
Likely tied to: Project Go-Big: Internet-Scale Humanoid Pretraining and Direct Human-to-Robot Transfer, Introducing Figure 03
Portable data collection system
The present disclosure provides a mobile data collection apparatus for use with a humanoid robot.
Humanoid robot data collection system
The humanoid robot data collection system may include a wearable data collection apparatus, a computer, and a humanoid robot in data communication via a network.
Humanoid robot data collection systems
The humanoid robot data collection system may include a wearable data collection apparatus, a computer, and a humanoid robot in data communication via a network.
Humanoid robot data collection system
A system where a human operator wears a sensor rig whose readings control a humanoid, to collect robot training data.
Humanoid robot with wireless data offload capability
A humanoid that offloads all its sensor data over a short-range millimeter-wave link (above 40 GHz, over 5 Gbps) to its dock while it charges, finishing the upload faster than the battery recharges.
Manufacturing · 4
Filings on factories for building humanoid robots, including a 'recursive' facility, and on making the head housing. Figure says Figure 03 was redesigned for high-volume manufacturing at BotQ, so these likely relate to that production effort (inference).
Likely tied to: Introducing Figure 03
Advanced manufacturing facility for humanoid robots
Quality checks for building robots: testing that fitted covers don't interfere with joint movement, linking component-level and system-level tests in one record, and ending component burn-in once performance stabilizes.
Method for manufacturing a head housing of a humanoid robot
Two-shot injection molding of a humanoid's head housing: a shell is molded first, then a second, more see-through material is molded over it to form a face shield bonded into one piece.
Advanced manufacturing facility for humanoid robots
A factory control system that reclassifies a finished robot as a worker, registers it alongside human workers, and assigns it tasks building further robots, with maintenance and reassignment if it degrades (a related filing in the same family).
Recursive manufacturing facility for humanoid robots
A 'recursive' factory where finished robots join the workforce building later robots, with a genealogy record of who built what; new robots calibrate, cover, stress-test and pack themselves, guided by on-robot vision-language-action models.
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.