[Al Skierkiewicz]

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>.
Note: This means no “mushroom-bots.” If a ROBOT is designed as intended, in normal operation you should be able to push the ROBOT (with BUMPERS removed) up against a vertical wall, and the FRAME PERIMETER will be the only point of contact with the wall.

<R19> ROBOTS must be designed so that in normal operation BALLS cannot extend more than 3 inches inside the FRAME PERIMETER below the level of the BUMPER ZONE.

I think those two rules would answer your question in the affirmative.