[Paul Marshall]

As far as the velocity being relative to the robot. I would take it to mean the base of the robot (intention of the rule). Or you would probably consider the "robot" the CM or the Robot Controller, one of the two, in either case, they probably won't be flying upwards very fast. Also in the rules, it states that for inspection you need to be able to prove that it doenst' exceed 10ft/s. The way they suggest that you do this is to video it with a known frame rate and a marked background. Ref. 5.4 <R82>