[R01] states, “The robot must have a Frame Perimeter that is comprised of fixed, non-articulated structural elements of the robot. The frame perimeter of a robot is defined by the outer-most set of external verticies on the robot that are within the bumper zone which is between 2 and 10 in. from the floor.”
To me this reads like it is only covering the side perimeter of the robot and not the bottom as I am trying to see if we can incorporate an extra set of wheels on a swing arm under the robot to allow us to lift our (2" from the floor) bumpers over that metal curb in the middle of the field.
The Bumper must be against the Frame Perimeter. On that particular corner, there’s a bunch of bumper material inside the perimeter.
If you want to make a separate piece of bumper-ish assembly along that inside edge, and count its weight as part of the Robot, then I don’t think there are any rules against it, but you can’t make it part of the Bumper.
Over the past few years, a number of teams have asked questions about configurations exactly like the one shown. The response has been, almost universally, “No, it’s not part of the bumper. No, that’s not the frame perimeter.”
Could you do it? Yep. Does it get counted as a bumper? Nope. Does it therefore count against size and weight? Yep. At least, that’s my interpretation. (And no, I’m not on the GDC or remotely affiliated with them. So this is not an official interpretation.)
Notice that a portion of the “interior bumper-like structure” extends beyond the Frame Perimeter - that’s the primary reason it’s not OK. The section of the actual Bumper that extends partially across the cutout is also troublesome; I don’t know if the rules address it as “unsupported” or not.
And as noted above, any bumper-like structures that do not qualify as Bumpers must be counted in size and weight.