Thank you for your amazing creation, Joe Klann!
Below simulates our LEGO approximation of Klann's linkage used for Klann Ver 2:
"Clawfoot" Klann includes some modifications that improve climbing performance.
Klann Ver 3 with longer legs, which provide more clearance for the EV3 brick or battery box to be mounted underneath the frame.
Klann's Mechanism with a simple, high-step modification.
To climb steeper grades try separating the front and rear legs' cranks, as Carl B did here: