OK, I'm not sure if this system already exist's or not, but I think it would be possible to use it.
Equipment: 2 x Petzl Crolls, 1 x single roller chest box, 1 x Sit Harness.
Attach a croll to each foot (*just above the footloop on each foot), secure the croll to your leg by means of a length of rope or webbing. Attach a safety cord from one or both of the ascenders to the sit harness. Run the MAIN ROPE through the chest box.
To Climb: Simple "Walk" up the rope, just like with a Ropewalker. You should be able to easily pull both ascenders up the rope with the weight of your feet and legs.
Any opinion's on this system? Would it work?