Can you help us get our robot unstuck?

[tsaksa]

From the video it looks like when you engage the second level the weight stays on the first level. This will probably always be true unless the distance between the two grippers is slightly less than the distance between the two bars. The grippers would then need slight tappers (or a lead in surface) to help transfer the weight to the upper gripper as it slid into position. I hope that makes sense. Basically a ramp to insure the weight ended up on the new grip point.

However any method of automatically transferring the load between grip points will be very tricky. Since the only holding force seems to be gravity and you are in the process of switching between hold points while your weight is cantilevered you have a significant risk of falling. I think you may need a solenoid driven locking pin on the grippers to prevent letting go two early. That coupled with a lead in and closer spaced grippers might do it. Or having another way to transfer the weight might work, such as some way to expand and contract the distance between the pivot points.

Whatever you do this is already a very unique way to climb. It will be great to see it in competition if you work the bugs out.