Sure it is. You can create part of that surplus by eliminating all or much of the social benefits of today, including it's bureaucracy, but that is insufficient. Any basic income that deserves the name must allow people to actually survive on it. It must be paid from revenues (taxes, oil revenue....) it cannot be paid with debts.
It's a real bad dilemma. Increased productivity and more AI may well toss us into poorhouses without basic income (http://marshallbrain.com/manna1.htm), but basic income reduces competitiveness. In the end, the future may really not need us.
Only way out I see is to keep the economy growing until we're ready. Spacesteading and Seasteading may do the trick.
First off, thanks for the interesting story - I got halfway through the first chapter before I realized it was fiction.
Back on topic - a basic income only reduces human labor by about five percent, which IMHO doesn't outweigh the benefit of a more just society, especially as robot labor grows and this penalty decreases. Maybe even when we have everything we need, greed continues to motivate the selfish.