[Tom I]

My team opted for an arm of sorts (picture 2 arms connected so it's "one appendage" per the rules). This manipulator can lower the ramp, raise it for an alliance partner on the other side (or for an opponent for the final shared balance), and actually lift our front end to get our frame over the barrier, where the 6 wheel drive takes it. The arm has roller wheels (3" diam) to allow us to roll on the arm with it touching the ground. We also have a type of skid plate to prevent the bot from bottoming out on the barrier.