It is specified in the definition of "Bumper Zone" at the beginning of Section 8 of the Competition Manual.
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BUMPER ZONE – the volume contained between two virtual horizontal planes, one inch above the floor and seven inches above the floor.
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This brings up an interesting question when taken in conjunction with the definition of "Bumpers"
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BUMPERS – Bumper assemblies designed to attach to the exterior of the ROBOT within the BUMPER ZONE, and constructed as specified in Rule <R08>. BUMPERS are excluded from the weight and volume calculations specified in Rule <R11>.
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Emphasis mine
So the bumpers must attach within the BUMPER ZONE but the bumpers themselves do not have to be in the BUMPER ZONE? This is obviously not the intent and is lawyering of the rules, but it is interesting to note.