pic: Team 1511 Prototype Drivebase Mk. II

[MrBasse]

If you do decide to actuate feet rather than the belly pan, a simple hinged element would remove the possibility of side load on your cylinders. Think of a see-saw where the cylinder pushes on a side that isn't in contact with the ground at all.

Also, I agree on this being a perfect place for a single acting cylinder. If you don't have any, a simple spring placed over the rod and one port vented to atmosphere can make a double into a single. You get the unique option of having the opposite direction of your typical single acting cylinder as well.