From page 4, section 8 The Robot:
Quote:
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 FRAME PERIMETER, wrap a piece of string around the ROBOT at the level of the BUMPER ZONE - the string
describes this polygon.
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And <R11>
Quote:
The FRAME
PERIMETER must be comprised of fixed, non-articulated structural elements of the ROBOT. The FRAME PERIMETER must remain a fixed, unchanging polygon throughout the MATCH.
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So a fully articulating chassis is not allowed - it would change the polygon that defines your FRAME PERIMETER whenever it bends.
You could have a suspension system with your wheels to accomplish the same thing, however.