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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).
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My interpretation of this is that the BUMPER ZONE moves as the robot moves. It has to be this way, else an ELEVATED robot would move the BUMPERS out of the BUMPER ZONE. So if the robot is tipped or elevated as it goes over the bump, the BUMPER ZONE tips or elevates correspondingly. That means if the articulated wheelbase lowers the wheels, the BUMPER ZONE is measured from those lowered points. Before proceeding with an articulated design, it should be verified with Q&A.