Bumper height over bumps

[2010FRC1687]

Are we allowed to use an active, powered suspension system to climb the bumps and hang? (like, for example, the wheels of the 2 red hanging robots in the game animation.) This system, if activated on level ground, would move the bumpers outside of the bumper zone, but would only be actuated to aid in climbing and hanging.

[2010FRC2504]

Will it be legal to use wheels which articulate on the ramp? Also would that count against us if the bumper distance from the articulated wheel brings that piece of the bumper out of the 10 to 16" planes on the ramp but not when completely flat?

[2010FRC0118]

GDC,

Hello! We currently have two interpretations of <R07> when the ROBOT is in contact with the BUMP. Would you please judge which is correct.

The first interpretation is that at any time the ROBOT is in contact with the BUMP, if the ROBOT is "frozen" (i.e. all moving parts halted) and placed on a flat surface, the ROBOT BUMPERS must be within the BUMPER ZONE to be legal.

The second interpretation is that at any time when the ROBOT is in contact with the BUMP, if the ROBOT is "frozen" (i.e. all moving parts halted) and placed on a flat surface, the ROBOT BUMPERS need not be within the BUMPER ZONE to be legal.

For example, is it legal if a four-wheeled robot hits the bump resulting in the front two wheels being shoved 3" into the robot as might happen if a traditional suspension were implemented? In this case, if the robot was "frozen" when the wheels were shoved into the robot and the robot was placed on a flat surface, the bumpers on the front of the robot would be about 7" or 8" off the floor.

Thank you,
The Robonauts

[2010FRC0171]

How is the bumper zone defined over the "bumps" on the field?

[2010FRC2504]

If the front wheel during the time going over the bumps increases in distance where the bumper is further then the 10 X16 plane, but will be vertical to the field while flat on the ground and the correct distance will it be allowed?

[2010FRC2826]

Rule <R07A> states:

"The BUMPERS must be located entirely within the BUMPER ZONE when the ROBOT is standing normally on a flat floor, and must remain there (i.e. the BUMPERS must not be articulated or designed to move outside of the BUMPER ZONE)."

When a robot is not on flat ground, specifically going over the bumps, how is the bumper zone measured? Is the intent of this rule that when an inspector measures compliance with this rule and, for example, pushes down on the robot, and gives it the OK, that the bumpers are fixed relative to that flat measured configuration.

If a robot employs a mechanism to hold the robot frame and bumpers within the bumper zone when on flat ground and releases the mechanism while traversing the bump, generally articulating a suspension past the potential +/- 0.5" of travel of the bumpers in the bumper zone, is this considered illegal?

[2010FRC2926]

I understand from the rules that the bumper zone is 10-16 inches off the level floor. I understand that the bumpers must be attached to the frame of the robot.

We are working on a chase design that would allow the wheel to be rotated from underneath the robot to the top of the robot in case the robot is found on it's back (ie a turtle on its back). Our concern is when the robot is on its "back" and we start moving the wheels from it "stomach" area to its back, the will be a time when the wheels are touching the ground and the bumpers will not be in the bumper zone until the wheels are fully extended out its "back" (which is now facing the ground).

1) Will this be a violation since the robot is attempting to "right" itself?

2) If we employ this system while going over the bumps we could raise the rear of the robot while the front wheels are going over the bump (in an attempt to keep the robot more level), could this constitute a violation? The robot is not on level ground and the bumpers would be at different heights. (less than 10" off the ground on the up hill side and more than 16" on the downhill side) All robots would have the same thing happen as they approach and the start to go over the bump.

[2010FRC0134]

<R11> The FRAME
PERIMETER must be comprised of fixed, non-articulated structural elements of the ROBOT. The FRAME PERIMETER must remain a fixed, unchanging polygon throughout the MATCH.

[FRAME PERIMETER – the polygon defined by the outer-most set of exterior vertices on the ROBOT (without the BUMPERS attached) that are within the BUMPER ZONE. To determine the FRAME PERIMETER, wrap a piece of string around the ROBOT at the level of the BUMPER ZONE - the string describes this polygon]

If the frame the bumpers are attached to is a fixed, unchanging polygon, could your drive train within the FRAME PERIMETER hinge underneath it?

And a follow-up to this: Does rule <G37> c. allow for the bumpers to be out of the bumper zone while cresting over the RAMP or BUMP or while being SUSPENDED or ELEVATED

[FRC1228]

Hello,
We have two separate, but related questions. 1) It is real clear that bumpers must be placed on the RP, but we are trying to figure out if there is a specific height, or range of height, the bumpers must fit in.
We also understand that the robot frame may not articulate, but if the outer shell (frame and body) of the robot remain fixed, are the axles and wheels able to articulate up and down? If so, is there a relationship between the axles/wheels an the bu,mpers?
Thanx!

[2010FRC1391]

Our team has started designing and prototyping an articulated drive base to make going over the bumps easier. We wanted to check the legality of this idea before we went too far with it.

The bumpers on the robot would be solidly mounted to the non articulating part of the frame. When flat on the ground the bumpers would be within the bumper zone. The drive base would be inside the frame perimeter and would able to articulate. When going over the bump wheels would follow the shape of the bump while the frame where the bumpers are attached would be solid. Once over the bump the, on the flat floor, the robot would return to the original configuration.