Moog Music Inc. is an American company based in Asheville, North Carolina which manufactures electronic musical instruments. It was founded in 1953 as R.A. Moog Co. by Robert Moog and his father, later becoming Moog Music in 1972. Its early instruments included various Moog modular synthesizer systems, including the world's first commercial synthesizer, followed by the launch of the Minimoog in 1970, which became one of the most coveted and influential electronic instruments of all time. Robert Moog subsequently left the Moog Music in 1977 to pursue his own endeavors under the company name Big Briar. Moog Music eventually declared bankruptcy in 1987. After a legal battle over the name, the Moog Music trademark was eventually returned to Robert Moog in 2002, and the company resumed operations under that name, continuing to introduce new products to this day.