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This is one of those issues that depends completely on the intentions behind the act.
During UCF, we ended up flipping two robots unintentionally. Both times, we were starting to head down the ramp right as they were cresting it, meaning the front end of their robot was dangling in the air right where we were moving towards at full speed. In neither case was the flipping intentional, and both times we went to the teams afterwards and apologized and asked if they took any damage and if there was anything we could do to help. This kind of flipping, in my opinion, is not illegal.
On the other hand, if you consistently use a wedge to get under a robot and subsequently flip them, it establishes a pattern and makes the judges think it was a design feature. This is clearly illegal, not to mention completely against the spirit of FIRST.
From what I've read here, it sounds like your robot falls in the first category and doesn't violate any rules. Just be careful, and make a point of backing off if it looks like your opponent is about to tip.
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