R405       *BUMPERS interact with BUMPERS. All BUMPERS must have padding (per R402-A) supported by backing (per R402-B) entirely filling the BUMPER ZONE, a space between 2 ½ in. (~63 mm) and 5 ¾ in. (~146 mm) from the floor.

R406       *Fill BUMPER corners. Corner joints between BUMPERS must be filled with uncompressed padding material extending at least 2 ¼ in. (~58 mm) from the corner with no gaps or voids. Examples of implementation are shown in Figure 8‑7.

R401       *BUMPERS all around. ROBOTS are required to use BUMPERS to protect the entire ROBOT PERIMETER. Gaps of less than 1 ¼ in. (~31 mm) between adjacent segments are permitted as long as all corners are filled per R406.

R404       *BUMPERS must be soft. Hard parts of BUMPERS must not extend more than 1 ¼ in. (~31 mm) from the ROBOT PERIMETER. Only padding (per R402-A), cover (per R402-C, including any coatings or markings), and soft fasteners used to secure padding or cover are permitted beyond this limit. Padding must extend at least 2 in. (~51 mm) beyond any hard parts of the BUMPER.