One thing I really like about this puzzle is that you can solve the first bit without understanding what moves do by just seeing if you reach a new state. Eventually, you'll be almost forced into jumping off the edge, which will let you see the quirk's of this puzzle's mechanic. In this way, the puzzle forces you through deduction to eventually realize how you're going to backsolve. Unfortunately for me, I couldn't really grasp what was going on, so I did end up reading other comments to realize that your feet is what determines the color switch.
From there after experimenting, I realized that you couldn't be in the middle after the switch as you'll be trapped, which meant you had to fall into the middle, so I worked to make that setup. And bingo! The puzzle was easy to solve from there. Awesome stuff!