<R07>, section K:
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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. All removable fasteners (e.g. bolts, locking pins, pip-pins, etc.) will be considered part of the BUMPERS.
The BUMPER backing must be supported by the structure/frame of the ROBOT (i.e. the gap between the backing material and the frame must not be greater than 1/4” and no section of BUMPER greater than 8” may be unsupported). See Figure 3-3.
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<R07>, Section A:
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BUMPERS must provide complete protection of the entire FRAME PERIMETER of the ROBOT (i.e. BUMPERS must wrap entirely around the ROBOT). As part of the 100% coverage, BUMPERS must protect all exterior corners of the FRAME PERIMETER. For adequate protection, a full segment of BUMPER must be placed on each side of the corner (see Figure 3-2).
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BUMPER PERIMETER:
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the polygon defined by the outer-most set of exterior vertices of the BUMPERS when they are attached to the HOSTBOT. (To identify the BUMPER PERIMETER, wrap a string around the BUMPERS at the level of the BUMPER ZONE - the string describes the polygon.)
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With this combination of rules, yes, you can have a gap in your frame, but not in your bumpers. So with the example you gave - a rectangular robot with an open front - the opening can only be a maximum of 8 inches, AND it has to have a bumper sitting in front of it.