2. Power Take-Off Chains Claw Open: torsion springs Claw Close: pancake cylinder pulls cable Roller Bearings (3 iterations) Claw Geometry (2 iterations) Claw Pull (2 iterations) Leg Base (3 iterations) Leg 0 Cylinder (3 iterations) Leg 1 Cylinder (4 iterations) Leg 2 Spring (∞ iterations) Anti-Backdrive Arm (2 iterations) Leg 0-1 Down/Up: cylinders Leg 2 Down: gravity Leg 2 Up: pyramid Power Take-Off CIM+Toughbox+15T  24T+Live Axle+9T  24T

3. Mounted in front of each Leg …Senses the horizontal bar …Triggers Claw Open, Leg Up Prox Sensors Mounted in front of each Leg …Senses if Leg is down …Triggers next state Limit Switches The Climb Process Manual Start Drive Up  Close Claw 0  Drive Both (always)  Close Claw 1 + Skids Out Automatic Sequence Trip Prox 0 & Switch 2  Close Claw 2  Open Claw 0  Raise Leg 0 Trip Prox 1  Lower Leg 0  Close Claw 0  Trip Switch 0  Open Claw 1  Raise Leg 1 Trip Prox 2  Lower Leg 1  Close Claw 2  Trip Switch 1  Open Claw 2 Both drivers have positive control …Either stops, climb freezes …Base driver locks swerve modules Repeat! Induction Proximity Sensors (~7 iterations) Limit Switches (~5 iterations) Safety!

4. Skids Front V Currently laser-cut polypropylene sheet …Centers on pipe as swerve drives up Manually-milled acetal tubes …Pneumatic cylinders inside …Drive out rods to engage horizontals Leg Vs Laser-cut polypropylene …Centers Legs 0 & 1 in-climb Composite core polyurethane …Molded “bowties” to center Wheels Skids (2 iterations) Wheels (~9 iterations) Leg Vs (NEW - 2 iterations) Front V (5 iterations)