Here are my thoughts:
We are talking a 180 pound goal, you can grab it fast but you will still be limited by your robot's friction with the ground.
Will it really be quicker? I suppose you could use the sensors to get decent accuracy, but with robots planning to hit > 10 fps, could you really deloy and attach this thing before you could just run out and get it?
Here is what i see happening. You grab onto a goal using this thingy maybe 5 seconds at the most before another robot gets to it. You start pulling it in with your wussy fisherprice motor. Another robot grabs hold and uses it's dual chalupa motor drive train to overpower you (i know this probably wouldnt happen). Whats more, the robot closest to the goal can 'twist' it and break your arm like a twig.
Whatever happens it is going to take more then 5 seconds to move goals around.
Don't get me wrong, im all for building a robot with no drive train
you could just sit there and pull things towards you.
Greg