[EricH]

Originally Posted by iCurtis

Also, bumpers WERE implemented since at least 2004, but the rules were much looser and there was less of an advantage to be gained by their use.

Custom bumpers have been allowed for years and years, subject to the weight limit of 130 or 120 or whatever the limit was and size rules similar the the "standard" bumper. After 2005, the wedge was outlawed and the standard bumper introduced, and now we have bumpered robots everywhere.

On structural element: yes, is it possible. Run your drive similar to, say, 968 in '05 and '06, then use the bumper as an outer frame rail without the weight of one (just don't leave it on for inspection, and your robot better run without the bumper.)