Robot competition ideas

[TK]

Hey guys its been awhile since i have been on the forum but I am back .  This year our school team of 4 is entering a robotics competition were we must pick up small pieces PVC pipes and carry then back to our "home base" for points.  So right now the robot is down to a basic 4 wheeled chassis with nothing else on it.  We are kinda stuck on how we should design the claw as it will have to carry the pipe, grab the pipe,reach up to get it off it's stand and preferably the robot should fit under a 18inch archway.  Any ideas or suggestions will be helpful I will be posting pics of the project as we go along. 

Details on the competition are here if anyone is interested  (high schools only) http://www.skillsontario.com/images/pdf/robotics_scope_2010?7d9b8770b2fccab2ab3090484df18474=fddd65c9c34011d150944f5ce9df9152