I'd reference R22 and R23 about bumper rules. Perhaps if you can meet those requirements?
Quote:
R22 BUMPERS must be located entirely within the BUMPER ZONE, which is the volume contained between two virtual horizontal planes, 4 in. above the floorand 12 in. above the floor, in reference to the ROBOT standing normally on a flat floor. BUMPERS do not have to be parallel to the floor.
R23 BUMPERS must not be articulated (relative to the FRAME PERIMETER).
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