Abstract: A leg mechanism includes an articulated leg system, a passive device and a cable. The articulated leg system has a leg portion. The passive device is coupled to the articulated leg system and is configured to apply a first force to a portion thereof. The cable is coupled to the articulated leg system and is configured to apply a second force, in opposition to the first force, to a portion thereof. When the cable is drawn away from the articulated leg system, the second force moves the leg portion in a first direction. When tension is released from the cable, the passive device exerts the first force so as to move the leg portion a second direction that is opposite the first direction.

Abstract: Disclosed herein are additives for petroleum hydrocarbons, e.g., gasoline, oil, and solvents, to inhibit corrosion or rusting of metals. The additives comprise a major amount of a liquid C.sub.21 -dicarboxylic acid having the following structure, the bis-alkanolamide derivative of this material, the mono-alkanolamide derivative of this material, or the salt of the monoalkanolamide derivative of this material: ##EQU1## wherein x and y are integers from 3 to 9, x and y together equal 12 and Z is a member of the group consisting of hydrogen and COOH, with one Z of each moiety. An additional aspect of the subject invention is that the C.sub.21 -dicarboxylic acid of the formula shown above may be blended with up to 80% by weight of such fatty acids as oleic acid, coconut fatty acid, soya fatty acid, tall oil fatty acids and others and still retain significant corrosion inhibiting properties.

Abstract: There is provided by way of this invention diglycidyl esters of C.sub.21 -dicarboxylic acid represented by the structural formula ##EQU1## wherein x and y are integers from 3 to 9, x and y together equal 12, and Z is a member of the group consisting essentially of ##EQU2## and hydrogen with one Z of each moiety.

Abstract: Disclosed herein are high solids content liquid polycarboxylic acid soaps made from long chain fatty acids and fatty oils by reaction with a maleinizing agent. This addition reaction is performed at a temperature between 180.degree.C. and 300.degree.C. preferably 190.degree.C. and 220.degree.C., between fatty acids and fatty oils from soya oil, tallow, corn oil, linseed oil, sunflower oil, tung oil, and tall oil fatty acids with maleyl compounds such as maleic anhydride. These addition reaction products when converted to soaps, such as potassium, sodium and ammonium, have a solubility uniquely above that noted before. The invention also includes mixtures of blends of the polycarboxylic acids with fatty acids and oils.

Abstract: Dicarboxylic acid soap compositions comprising a compound of the formula ##STR1## wherein x and y are integers from 3 to 9, x and y together equal 12, Z is a member of the group consisting of hydrogen and COOM.sub.1, with one Z of each moiety, and M and M.sub.1 are selected from the group consisting of hydrogen, sodium potassium, lithium, ammonium, organic amines, and mixtures thereof in an amount sufficient to impart detergency to said compositions, and water. Another aspect of this invention is that soap of the above composition may be blended at from 5% to 90% by soap weight with coconut fatty acids, tallow fatty acids, tall oil fatty acids, oleic acid, soya fatty acids, safflower oil and other fatty acids, and retain the advantageous properties of using C.sub.21 dicarboxylic acid soaps alone. The soaps and soap blends are water soluble not only at low solids concentration but also at high solids concentration, for example, above 40% solids and in some cases above 90% solids.