RiSE is a robot that climbs vertical terrain such as walls, trees and fences. RiSE uses feet with micro-claws to climb on textured surfaces. RiSE changes posture to conform to the curvature of the climbing surface and its tail helps RiSE balance on steep ascents. RiSE is 0.25 m long, weighs 2 kg, and travels 0.3 m/s. Each of RiSE's six legs is powered by a pair of electric motors. An onboard computer controls leg motion, manages communications, and services a variety of sensors, including joint position sensors, leg strain sensors and foot contact sensors.