R403       *BUMPER extension limit. BUMPERS must not extend more than 4.0in (10.16cm) from the ROBOT PERIMETER.

R406       *Fill BUMPER corners. Corner joints between BUMPERS must be filled with uncompressed padding material extending at least 2.25in (5.72cm) from the corner with no gaps or voids. Examples of implementation are shown in Figure 8‑10.

R405       *BUMPERS interact with BUMPERS. While navigating the FIELD normally, all BUMPERS must have padding (per R402-A) supported by backing (per R402-B) entirely filling the BUMPER ZONE, a space between 2.5in (6.35cm) and 5.75in (14.61cm) from the floor.

R101       *ROBOT PERIMETER must be fixed. The ROBOT (excluding BUMPERS) must have a ROBOT PERIMETER, contained within the BUMPER ZONE and established while in the ROBOT’S STARTING CONFIGURATION, that is comprised of fixed, non-articulated structural elements of the ROBOT. Minor protrusions no greater than 0.25in (0.64cm) such as bolt heads, fastener ends, weld beads, and rivets are not considered part of the ROBOT PERIMETER.