I think this could be solved relatively easy by just not having anyone inside the arena when the robots are being tested. At the end of the match the judges could request a drive test around the pit quickly, if both robots pass, robots are then powered down and the judges can enter the arena and inspect the robots up close to make final decisions.

The tiptop style drive system could still work even at low RPM (You don't need to spin it up to full speed) and I know my two wheel Melty was able to translate at around 100RPM if needed (the one wheel version couldn't though).