[Jeff Pahl]

The frame perimeter is defined by wrapping a string around the outermost vertices of your robot. This means you need to have hard corners that stick out farther than your wheels for the string to wrap around. These hard corners will also serve to support the ends of your bumper segments, as required. Then, as mentioned, you have to have structural support standoffs with a spacing of less than 8" between them. They need to be structural enough for the inspectors to believe that there is no risk of them collapsing or causing the bumpers to fail.

For example, it would be hard to convince me that a standoff that was a single 1/4" bolt or rod on an 8" spacing was structural.

So no, your drawing is not legal. You don't have to bring frame out all the way around your wheels, but you have to bring something out at the corners and out past the wheels every 8" to support the bumper. This should not be too big an issue unless you are using 8" or larger wheels.