On my K10D, whenever I set the camera to use one or the other battery first, the camera does in fact stop working when the battery is depleted, requiring me to turn the camera off and on again. This is the correct behaviour, according to the manuals.
It might be that your grip battery is recovering just enough when you turn it off to confuse the camera. This is a bug, I think, with the firmware. The instant workaround is to remove the grip battery until you can recharge it. The long term is to report the issue to Ricoh so they know it happens and can update the firmware to modify the detection routines.
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