Good stuff Stan!
Now with this in your head remember the Dynamic rollover scenario...
With the helicopter (be it semi-rigid teetering, fully artic., or rigid head) in normal flight, the lateral thrust from the tilted head "torques" the fuselage around the aircraft's centre of mass in the required direction. This is a tilting moment which is the lateral thrust of the main rotor multiplied by the distance between the rotor head and the helicopter centre of mass.
force X arm = moment
On the fully artic and rigid head there are other forces trying to align the fuselage to the disc as well, discussed in a previous thread, but most of the turning moment is lateral rotor thrust X distance between rotor head and Centre of mass.
Now consider the Dynamic rollover situation:
Now the skid is touching something, the point of fuselage rotation is the skid contact point. The rotor lateral thrust is the same, but the Arm is much longer, being the distance between the rotor head and the skid, so the force, multiplied by the longer arm, creates a much quicker rotating moment.
This rotating moment if allowed past the point of no return will not be reduced with cyclic, no matter what type of rotor head. reducing the total rotor thrust with collective is the only way ( as you know already)
You have the low G in your head spot on, remember in a low G situation the helicopter will roll at a rate of around 90 degrees a second!!
If you feel weightless always reload the rotor head with aft cyclic.
If I could think of things that would help you to enjoy the R22 it would be these:
1. NEVER EVER give someone that is not a rated helicopter pilot a "go" on the controls EVER!
2. Always take the controls out of the pax seat if you do not have a rated helicopter pilot in the left seat.
3. wires wires wires.
ENJOY!