Yep, any of them will. When they feel like they are going to fall, or in danger of falling, they will flail around trying to find something (or someone) to hold on to.
It's best not to stress them out too badly, so when you pick him/her up, use both hands and gently scoop or put one hand on the ground, and lift them into it with the other. He/she won't flail if you support their belly and limbs.
-Ethan