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: A preferred embodiment of the present invention relates to an abrasive recovery apparatus for use in conjunction with the slurry generated by water jet cutting or conditioning operations. The generated slurry is comprised of both non-recyclable fines and recyclable particles. The abrasive recovery apparatus comprises a slurry intake system having one or more pumps which collect and distribute slurry. The abrasive recovery apparatus further comprises a vibrating separator having a filter sized and shaped such that the non-recyclable fines in the slurry are separated from the recyclable particles in the slurry. The abrasive recovery apparatus still further comprises a fluidized bed dryer having heating elements to dry the recyclable particles.