In 1966, Jim Henson produced one commercial for American Oil and Standard Oil. The commercial cannot be found, and had 2 Muppet robots, Clyde and Charlie. All that remains of this connection is a sketch of Charlie, which can be viewed here. Only time will tell when somebody will find a complete copy of the commercial and will donate it to The Jim Henson Company Archives as well as The Paley Center for Media.
Lost Media Archive