The Blue Box Under R01-2 might help.
Quote:
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Originally Posted by R01-2 Blue Box
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.
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Though, that doesn't cover you during acceleration. You could argue that your robot is in a transitory state but it's a little iffy.
Do you have a picture of your robot's drive train? You might be able to do something simple like add a piece of surgical tubing to one of the free floating members to make it less likely to move during stopping and starting. Done right, it shouldn't/wouldn't make a difference in your barrier crossing ability but this is design dependent.