p.s. For the record, you can also do it in a single command:
\version "2.11.49"
voiceA = \relative
{
c4 d e g,
f e e' d
}
voiceAswitches =
{
s2. \change Staff = "LH" s4
s2 \change Staff = "RH" s2
}
\score
{
\new PianoStaff
<<
\new Staff = "RH" \new Voice = "RH_voice" << \voiceA
\voiceAswitches >>
\new Staff = "LH" { \clef bass s1*2 }
>>
}
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