Helpful rules to look at for this topic:
1) Bumper height and articulation: <R07>
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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).
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Bumper zone definition: from page 3 of the robot section of the manual
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BUMPER ZONE – the volume contained between two virtual horizontal planes, ten inches above the floor and sixteen inches above the floor.
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2)"Kicker" extending outside the bumper boundaries:
<R16>:
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<R16> During normal operation no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as permitted by Rule <G30>.
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<G30>:
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<G30> ROBOT Volume – During a MATCH, no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as follows:
a. BALL Interaction Volume – Solely for the purposes of interacting with a BALL, MECHANISMS that are below the BUMPER ZONE may extend up to the BUMPER PERIMETER, for a period not exceeding two seconds. After returning inside the FRAMER PERIMETER, such MECHANISMS are not permitted to re-extend beyond the FRAME PERIMETER for at least two seconds.
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3) Volume while righting another robot:
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<G30> ROBOT Volume – During a MATCH, no part of the ROBOT shall extend outside the vertical projection of the FRAME PERIMETER, except as follows:
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b. ROBOT Righting Volume - ROBOTS attempting to right themselves or their ALLIANCE partners may expand up to the FINALE CONFIGURATION maximum volume while, and only while, performing the righting operation. While beyond the NORMAL CONFIGURATION volume and righting, ROBOTS may not actively interact with BALLS or opponent ROBOTS.
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I hope that answered all the questions.