I'd be careful here.
The rules state that you can violate the frame perimiter to re-right yourself,
after you have fallen over ... but if you stick something out WHILE you are falling you could get a penalty if you violate the normal robot perimeter.
There's already a Q&A topic about this (
clicky) ... the GDC answer is copied here for your convenience.
Quote:
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The ROBOT righting volume expansion permitted by Rule <G30-B> only applies for robots that are righting themselves after being tipped over. Mechanisms activated before a robot is tipped must satisfy the ROBOT volume limits defined in Rule <G30>.
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