That is an interesting proposition. Best answer you can get would be to ask the GDC about it.
From what I can tell, rule [R48]D would probably apply in the sense of [Bumpers must be constructed as follows
Quote:
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be covered with a rugged, smooth cloth. The cloth must completely enclose all exposed surfaces of the plywood and pool noodle material. The fabric covering the Bumpers must be a solid red or blue in color. Visually, the red or blue must be as close to the corresponding color in the FIRST logo as reasonable (i.e. to a reasonably astute observer, they appear similar). The only markings permitted on the Bumper fabric cover are the team number (see Rule [R35]).
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Emphasis mine. Whether duct tape qualifies as rugged, smooth cloth is up for debate. I know that there is some fabric qualities within duct tape but I am not sure how far that carries. The second emphasis would be simply in having to buy loads of duct tape, and have to buy twice one set because you would need to make both a red duct tape set and a blue duct tape set, assuming this is legal at all.
Reviewing, I'd ask the GDC about R48 and if duct tape qualifies as cloth or not. Hope it goes well; this really is quite an interesting proposition. I'm intrigued to see how it turns out.