[IndySam]

[R01-2]
The Robot must have a Frame Perimeter that is comprised of fixed, non-articulated structural elements of the Robot. The Frame Perimeter of a Robot is defined by the outer-most set of exterior vertices on the Robot that are within the Bumper Zone, which is between 2 and 10 in. from the floor. Minor protrusions no greater than ¼ in. such as bolt heads, fastener ends, and rivets are not considered part of the Frame Perimeter.


To determine the Frame Perimeter, wrap a piece of string around the Robot at the level described in [R02]. The string describes this polygon.

Note: to permit a simplified definition of the Frame Perimeter and encourage a tight, robust connection between the Bumpers and the Frame Perimeter, minor protrusions such as bolt heads, fastener ends, rivets, etc are excluded from the determination of the Frame Perimeter.

The carpet, the Bridge surfaces, and Keys are considered the flat floors – and thus are the reference planes for the Bumper Zone requirements. A Robot in a transitory state of crossing onto/off of a Bridge or Barrier is not considered to be on a flat floor.




So if you put that string around you robot, that is where you bumpers must be. Your setup is illegal.