pic: Sample Frame Perimeter

[Ryan_Todd]

Originally Posted by cschulman

On the Semi Circle part the "sides" of the robot are less than 8" but the bumper is intended to be 8"?

(Assuming that you are referring to the cutout on the left side)
Yes indeed, there must be at least 8" of fully-supported bumper extending in each direction from every corner of the "frame perimeter". As such, the left side of this robot is illegal as shown because the bumpers are not fully supported.

(Alternatively, if you are referring to the protrusion on the right side)
For the purposes of determining the frame perimeter, any convex curve is considered to have an infinite number of corners. Therefore, the middle of the curved section on the right side must be completely protected by bumpers, and the final "corners" on this curved segment are defined as the two points where a string wrapped around the "frame perimeter" loses contact with the curved segment. Looking specifically at the top right diagonal section of the "frame perimeter", then, the 8" minimum (fully supported) bumper measurements begin at both the top right corner of the rectangle and the point where the "frame perimeter" loses contact with the curved segment, and extend inwards from there. Unless the total distance between these two points is greater than 16", there won't be room for a gap there at all!