Clarification about reuse of projects from previous competitions

Last year we presented at the RoboCup European Tournament a piano-player robot. The structure was built using LEGO Mindstorm kits and an arduino board for a LED stripe. We programmed using Small basic.
For this year, we would like to reinvent our project and recreate everything using arduino and more advanced technology in general. The only constant would be the concept of a robot that plays the piano, the rest would be anew.
We would like to know wether we may receive penalties.

Dear Musicurao,

Thank you for your inquiry, and I apologise that I couldn’t reply sooner.

Now, 2020 OnStage rules are under reviewing within OnStage TC. Regarding penalties, there might be made some changes from 2019. The draft will be published within a couple of weeks, so please wait for a while.

Best regards,
Shoko