[EricH]

<R30> b. ROBOT Righting Volume - ROBOTS attempting to right themselves or their ALLIANCE partners may expand up to the FINALE CONFIGURATION maximum volume while, and only while, performing the righting operation. While beyond the NORMAL CONFIGURATION volume and righting, ROBOTS may not actively interact with BALLS or opponent ROBOTS.

(emphasis mine)

That implies that you are already down. Therefore, extending before you go down gets you a penalty and yellow card.

It would also not be a kicker, because the protection in <G30-A> specifies that it's only to interact with a ball.