Forgot to add-
I really like your manipulator.
We were thinking of going for the same thing, but we're still making mockups. Here are two questions we're thinking about as we run around carpeted areas pushing broom handles into innertubes:
1. If the method I described above is how you plan to release tubes, do you have any trouble with them sticking to the lance as you try to let go?
2. For picking up, we've realized that our lance has to be nearly touching the ground in order to drive under and innertube--otherwise it just gets stuck to it and starts depressing it. So to pick up we've essentially decided to drag our lance forward along the floor and coat the bottom with something slick to keep it from getting caught. Are you guys having similar problems or does the squashed pipe slide along the carpet okay?