[EricH]

Provided that 1) the ball doesn't go more than 3" into the frame (<G46>, <R19>) and that 2) there is no gap in the frame (bumper rules, definition of frame perimeter), yes.

Clarification of 2): Frame perimeter is defined as:

FRAME PERIMETER – the polygon defined by the outer-most set of exterior vertices on the ROBOT (without the BUMPERS attached) that are within the BUMPER ZONE. To determine the FRAMEPERIMETER, wrap a piece of string around the ROBOT at the level of the BUMPER ZONE - the string describes this polygon.

The applicable portions of <R07>, the bumper rule, are as follows:

Originally Posted by <R07>

A. BUMPERS must provide complete protection of the entire FRAME PERIMETER of the ROBOT (i.e. BUMPERS must wrap entirely around the ROBOT). The BUMPERS must be located entirely within the BUMPER ZONE when the ROBOT is standing normally on a flat floor, and must remain there (i.e. the BUMPERS must not be articulated or designed to move outside of the BUMPER ZONE).
...
I. BUMPERS must attach to the FRAME PERIMETER of the ROBOT with a rigid fastening system to form a tight, robust connection to the main structure/frame (e.g. not attached with Velcro). The attachment system must be designed to withstand vigorous game play – nut and bolt fasteners are recommended. All removable fasteners (e.g. bolts, locking pins, pip-pins, etc.) will be considered part of the BUMPERS.
...
M. The entire length of the BUMPER backing must be supported by the structure/frame of the ROBOT (i.e. the backing material must not be in “free space” between or beyond attachment points) (see Figure 8 – 3).

In other words, that gap in the frame/bumpers needs filling.