Pull Out a Pole Robot

[hamzaman]

Hi,

I need to build an arm system that when mounted on a mobile robot, can grab a wooden pole and pull it out of the ground on the go.
On the go is the key here. I don't want to stop to pull the pole out. Its about 10 cm into the ground.
I need a simple to fabricate structure for this. I'l be using aluminum rods and strips. I'm comfortable with implementing complex electronic and algorithmic systems but I don't have a very elaborate assortment of machinery for aluminum works. So the structure needs to be as simple as possible.

Any ideas?
Thanks