Active Ball Control

Rule <G45> states

Active BALL control - ROBOTS may not control BALL direction with active MECHANISMS above the BUMPER.

Does this include incidental contact with the ROBOT above the BUMPER?

My interpretation of the rule says no, but I just want some other opinions.

Incidental contact with a mechanism not designed to control the direction of the ball is legal.

http://forums.usfirst.org/showthread.php?t=13763&highlight=incidental

Thanks!