[donkehote]

I read it as you posses the ball if you make multiple contacts. herding can be done with bumpers, so i dont think that you need it to touch an actuator/manipulator. Think of the rookies if that was the case!

POSSESS: (for a ROBOT) to carry (move while supporting BALLS in or on the ROBOT), herd (repeated pushing or bumping), launch (impel BALLS to a desired location or direction), or trap (overt isolation or holding one or more BALLS against a FIELD element or ROBOT in an attempt to shield them) a BALL.

ROBOT: an electromechanical assembly built by an FRC Team to perform specific tasks when competing in AERIAL ASSIST. It includes all of the basic systems required to be an active participant in the game: power, communications, control, mobility, and actuation. The implementation must obviously follow a design approach intended to play AERIAL ASSIST (e.g. a box of unassembled parts placed on the FIELD or a ROBOT designed to play a different game would not satisfy this definition).

Emphasis mine