\version "2.11.41"

% with and without staff changes:
music = { c8\sustainDown c \change Staff = rechts c c | \change Staff = links R1\sustainUp }
musicI = { c8\sustainDown c c c | R1\sustainUp }

% With pedal bracket: bracket ends at staff change, or at end of notes
% with pedal marks: mark is alway correctly put at the rest
links = \relative c'' {
  \set Staff.pedalSustainStyle = #'mixed
  r2 \music | r2 \musicI |
  \break
  \set Staff.pedalSustainStyle = #'text
  r2 \music| r2 \musicI
}

\score {
  \new PianoStaff << 
    \new Staff = "rechts" { R1*8 }
    \new Staff = "links" { \links }
  >>  
}