Insufficient force from 6 V 1 A push-pull solenoid powered by a stepped down 9 V battery (relay) -- why and what can be done?
If you mean pick-up power by saying kicker, I faced this problem once. My robot cart couldn't  pick up when stoped. I solved the problem by placing a 220uF capacitor parallel to the current control resistor. At start, the capacitor and the resistor both conduct. But at run time only the resistor conducts.
I refered to the link showing the kicker. Do you use it for some thing to throw or to get a pick-up? I used the capacitor for the motor.But you can use it for the kicker. Capacitor pases an instant current additionaly.