On page 59 Figure 4-3 is Showing Figure C (Bottom Left) it is showing that "Not a Bumper" and "Not Ok" are not correct... So for "Not Ok" is showing that you do not need to have the bumper that long, Then for "Not a Bumper" you do not need to have the Bumper in the inside of the robot.
Am I understanding this correctly?
I do understand that you will need to cover all of the corners of the frame. Also I remember that other years they had bumpers but I do not know what the rules were for that.