[JesseK]

Grip tape is not allowed afaik. Even if it's classified as a 'tape', its sandpaper-like effect will rip up the rubber foam fields. You would be wise to Q&A it before you use it.

I concur, LEGO wheels for FTC (not minibot) are legal. We used some fairly rare LEGO tires last year on the 3" wheels to great effect. In one match, we scored something in auton then pushed all 3 other robots (1 of them was sideways) in the course of playing defense.

HOWEVER

Do not think that increased traction is a silver bullet. It takes some incredible consideration to be able to actually push so much while also maintaining enough agility to move around. The kids' robot last year was simply 'lucky' that it only took a few tweaks to get it to its best design for pushing (they didn't consider it for pushing until March).