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The on-the-fly pneumatic shifting works by brute force. As the robot is moving, the pneumatic cylinder forces the gear off the current gear that it is locked with (they slide apart), and slides it along the shaft until it hits the 2nd gear. These cylinders have anywhere from 30-180lbs of force (30 is plenty). As the opposing gear rotates (becasue the robot is moving) eventually the gears will mesh and the cylinder will force the gear to slide into position.
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I have a question? It sounds like you would shred the gears if you try and force them to mesh as one is moving.
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If either a public officer or any one else saw a person attempting to cross a bridge which had been ascertained to be unsafe, and there were no time to warn him of his danger, they might seize him and turn him back without any real infringement of his liberty; for liberty consists in doing what one desires, and he does not desire to fall into the river. -Mill
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