[EricH]

Originally Posted by hyperdude

There is no extending outside of the bumper zone.

However, you can have something that goes from within the FRAME PERIMETER (right? The area under the robot, within the inner edge of the bumpers) up to the bumper zone perimeter, for 2 seconds at a time, with a minimum 2 seconds between repetitions.

Simple answer, you can't have anything outside of the bumpers.

Yes and no. If you're in FINALE configuration, you can go beyond the bumper perimeter. If you're in NORMAL configuration, you can't, except as outlined in <G30>.

That's the only way to interpret the rules as a whole, as <R11> bars articulating frames, but <R10> allows expansion beyond the normal configuration, and <G30> governs which reading of the chart in <R10> is applicable.

Simple answer: which configuration are you in and why?