Humanoid Robot Mobile Platform Patents: Who Leads 2026
- Filing is accelerating fast, not maturing. Annual filings sat at zero at the 2022 midpoint and reached 10 by 2025 — the growth curve is still on its way up, not levelling off.
- Two organisations account for nearly every co-filed family. Only two co-assignee pairs exist in the dataset, and the strongest links France's national robotics institute to SoftBank Robotics Europe across 30 shared families.
- Locomotion control, not the humanoid form itself, is where citations concentrate. The five most-cited records are all about dynamic walking, motion generation and omnidirectional wheeled control — the mobile base is the contested ground.
What this landscape covers
This dataset tracks patent families at the intersection of humanoid and bipedal robots and the mobile bases, wheeled-legged platforms and locomotion controllers that carry them. The search combines humanoid/bipedal/legged robot terminology with mobile-base and locomotion claim language, restricted to B62D57/032, B25J5/00 and B62D57 — the classification core for legged and wheeled-legged mechanical platforms. It captures 76 patent families published between 2015 and mid-2026.
Filing offices skew toward the United States, with meaningful volume at the EPO and through the PCT system, plus smaller but consistent filing in Canada, Australia and Singapore — a pattern consistent with a field still establishing its core jurisdictions rather than one already defending mass-market products everywhere at once.
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Filing trends and technology composition
Publication figures for the most recent one to two years understate real filing activity, because patent applications typically publish about 18 months after they are filed. Read the trailing years as a floor, not a ceiling.
Filing trend: acceleration from a flat base
Filings were essentially flat through the mid-2010s, with the midpoint year of 2022 recording zero filings in this dataset before the count climbed to a peak of 10 in 2025. That shape points to a field where the underlying research matured, then filing activity followed in a short, steep window rather than a long steady ramp.
IPC composition: manipulators and vehicle steering dominate
B25J (manipulators and robots) and B62D (motor vehicles and steering) together anchor the bulk of records, confirming this is a mechanical-platform field first. Secondary classes — G05D control, G06T image processing, and B60L electric propulsion — show the platform increasingly picking up perception and power-management claims rather than staying purely mechanical.
Shares are the percentage of the 76 records in scope. A patent can carry several IPC classes, so the shares add up to more than 100%.
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Try EurekaThe most-cited records, and what they signal
NZ725275A — Omnidirectional wheeled humanoid robot with linear predictive position and velocity control
The filing addresses a core control problem for humanoid robots on a mobile base: the dynamic model switches discretely as contact forces appear and disappear, and impacts on an omnidirectional wheeled base are hard to manage in real time. The claimed robot pairs a body position sensor and a base position sensor with control logic that accounts for the dynamical constraints linking the body and the wheeled base, including the case where the robot tilts around its wheels under disturbance.Filed by Institut National de Recherche en Informatique et en Automatique; published 2017-12-22.
View full record| # | Publication no. | Patent title | Citations |
|---|---|---|---|
| 1 | US20130184861A1 | Humanoid Robot that can Dynamically Walk with Limited Available Footholds in the Presence of Disturbances | 65 |
| 2 | US7136722B2 | Method for generating a motion of a human type link system | 62 |
| 3 | US20030220714A1 | Method for generating a motion of a human type link system | 57 |
| 4 | US20170144299A1 | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller | 34 |
| 5 | EP2933068A1 | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller | 27 |
| 6 | CN106573370A | 基于线性预测位置和速度控制器的全方向轮式人形机器人 | 22 |
| 7 | EP2933069A1 | Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller | 20 |
| 8 | US8942848B2 | Humanoid robot that can dynamically walk with limited available footholds in the presence of disturbances | 20 |
| 9 | WO2017087986A1 | Non-anthropomorphic bipedal robotic system | 16 |
| 10 | GB2400686A | Motion logging and robotic control and display system | 14 |
Citation counts favour older records simply because they have had longer to accumulate citations inside this corpus — treat them as a signal of influence on the field's vocabulary, not of current commercial importance.
Patent titles are shown in the language they were filed in, not translated, so that each record stays verifiable against the original filing — a translated title will not match in Eureka or in any national register. Each row carries its publication number; clicking a row searches Eureka by that number.
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Three patterns in this dataset matter more than any single ranking: where claim density already sits, where citation weight concentrates, and where the technology composition is shifting.
The field is mid-acceleration, not settled
Zero filings at the 2022 midpoint followed by a peak of 10 in 2025 means the claim landscape for core locomotion mechanisms is still being written. A filer entering now is not late to a mature field; they are entering during the steepest part of the curve.
Manipulator and vehicle-steering claims dominate
B25J and B62D together cover the large majority of records, meaning the mechanical platform — not perception or power systems — is where claim density is highest. Filers targeting pure mechanical locomotion designs should expect the most crowded prior art here.
Dynamic walking and motion-generation patents anchor the field's vocabulary
The most-cited records all describe either dynamic bipedal walking under disturbance or human-type motion generation for link systems. Later filings in wheeled-legged and omnidirectional control build directly on this vocabulary, which is worth checking before drafting new locomotion claims.
Co-filing is rare and concentrated in one alliance
Only two co-assignee pairs appear across 76 families, and the stronger of the two links a national research institute to a robotics manufacturer across 30 shared families. Most other assignees file independently, suggesting IP strategy in this space is largely single-owner rather than joint-venture driven.
Eureka can read the same corpus for gaps instead of for coverage: under-claimed branches adjacent to humanoid robot mobile robot platform, with the prior art for and against each one.
Who is filing, and where the gaps are
Momentum in the latest year is thin across the board: most tracked assignees show zero filings in the most recent year, and the one assignee with recorded activity is down sharply year-on-year — consistent with the 18-month publication lag rather than a slowdown in actual research.
Even the most active recent filer is declining on paper
The one assignee with a nonzero filing in the latest year still shows an 89% year-on-year drop, and every other tracked assignee shows zero filings in that same window. This is very likely a publication-lag artefact rather than an actual pullback in R&D.
One research-institute/manufacturer pairing dominates joint filing
A single alliance between a national informatics and automation research institute and a robotics manufacturer accounts for the large majority of joint filings in this dataset, with a smaller secondary pairing involving a humanoid robotics manufacturer.
The US and Europe carry the bulk of filing volume
The United States leads receiving-office counts, followed by the EPO, with the PCT route, Canada, Australia and Singapore each carrying smaller but non-trivial volume — a footprint typical of a field still building out its jurisdictional coverage.
| Assignee | Recent year | YoY |
|---|---|---|
| Digital AI Corporation | 1 | -89% |
| Institut National de Recherche en Informatique et en Automatique (INRIA) | 0 | — |
| SoftBank Robotics Europe | 0 | — |
| The University of Tokyo | 0 | — |
| Aldebaran Robotics | 0 | — |
| Kawasaki Heavy Industries, Ltd. | 0 | — |
| UBTECH Robotics Corp Ltd | 0 | — |
| Ghost Robotics Corporation | 0 | — |
Where to take this
The raw counts point to a field mid-acceleration with thin collaboration and dense core claims. Two follow-up questions are worth running before committing a filing strategy.
Check the actual claim scope of the top-cited families
Citation weight tells you which vocabulary the field inherited, not which claims are still enforceable or how narrowly they are drafted. Read the independent claims of the top-cited records directly before assuming they block a given design.
Explore prior art in EurekaModel the 2025-2026 filings once publication catches up
The 2025 peak and thin 2026 count both understate real activity given the 18-month publication lag. Re-run the trend analysis in six to twelve months to see whether the acceleration held.
Track filing trends in EurekaQuestions practitioners ask about this landscape
Filing in this dataset is spread across a small group of research institutes and robotics manufacturers rather than dominated by one company. France's national informatics and automation research institute and SoftBank Robotics Europe form the strongest filing relationship, sharing 30 co-assigned families, with other assignees including major university and industrial robotics groups filing largely on their own. No single assignee shows sustained high-volume filing in the most recent tracked year, which is more likely a publication-lag effect than an actual drop in activity.
The core classifications are B62D57/032 for wheeled-legged and legged vehicle mechanisms, B25J5/00 for manipulators and robot mobility devices, and the broader B62D57 subclass for motor-vehicle-adjacent locomotion mechanisms. In practice, B25J (manipulators and robots) and B62D (motor vehicles and steering) account for the large majority of records in this landscape, with G05D control, G06T imaging and B60L propulsion appearing as secondary, overlapping classifications on newer filings.
The filing trend shows acceleration rather than saturation: the midpoint year of 2022 recorded zero filings in this dataset before volume rose to a peak of 10 in 2025. That pattern, combined with only two recorded co-assignee pairs across 76 families, suggests the field has not consolidated around a small set of dominant claim holders and there is room for new entrants, particularly outside the densely claimed core mechanical locomotion designs.
Bipedal walking patents, such as the most-cited records in this landscape, focus on dynamic balance and motion generation for a two-legged system without wheels, often addressing disturbance recovery and limited footholds. Wheeled-legged and omnidirectional wheeled humanoid patents instead claim a body mounted on a wheeled mobile base, with control logic managing the discrete switch between contact and non-contact states and tilt around the wheels. Both fall under the same IPC classes tracked here, but they represent distinct mechanical architectures with separate prior art bases.
Citation counts accumulate over time within a searched corpus, so records published earlier in the 2015-2026 window have simply had more years and more subsequent filings available to cite them. The most-cited records here date to the early-to-mid 2010s and describe foundational dynamic-walking and motion-generation methods. A high citation count signals influence on the field's technical vocabulary, not that the underlying claims remain the most commercially relevant today.
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Disclaimer. This page is generated from Patsnap Eureka data drawn from a limited snapshot of global patent and scientific-literature records, and is provided for general information and reference only.
Patent data carries inherent limitations: recent filings (typically the most recent 18–24 months) are under-counted due to standard publication lag; counts may be reported at either a patent-family or a patent-record basis and are not always directly comparable; classification, applicant-name, and citation data may contain errors, duplicates, or omissions; and the underlying search query defines and constrains the scope shown. As a result, the analysis may be incomplete or inaccurate and may not reflect the full technology landscape.
Nothing on this page constitutes an exhaustive prior-art, novelty, freedom-to-operate, or validity search, nor does it constitute legal, financial, investment, or professional advice, and it should not be relied upon as such. Any patent, commercial, or strategic decision should be verified independently and reviewed with qualified patent, legal, and domain professionals. Patsnap makes no warranties, express or implied, as to the accuracy, completeness, or fitness for any particular purpose of the information presented.
Machine translation. Assignee and organisation names originally recorded in Chinese, Japanese or Korean have been rendered into English by an AI translation step so that the tables stay readable. These renderings are best-effort and may not match a company’s registered English name; the original name is what the underlying patent record carries, and it is what any Eureka query launched from this page uses.