Are we talking grip tape like the kind on bicycle handles??
if so, then that is definately an adhesive backed tape and would not be allowed...
HOWEVER...
Stuff such as drawer liner material have been legal in the past since it is not adhesive backed usually.
Example:
http://4x4icon.com/offroad/toolbox/toolbox_liner.jpg
You just have to find a non-adhesive way to attach it to something.
I'm assuming you are trying to use this on a grabber of some kind.
You may want to test it's stickyness in relation between the tubes.
The tubes are rather sticky and you may be grabbing onto them and never able to let go! Or.. not that easily anyways.
This kind of material worked for large inflatable playground type balls of the past:
Re: The Yellow balls in 2004:
http://www.chiefdelphi.com/media/photos/17579
But I'm not sure how they would work on the tubes.
It's worth a shot though.
Good Luck!