shinny

Silently, the manikin clasped the nearest table leg, shinnied up and hauled himself over the top.

With considerable difficulty he had shinnied up the table leg, and had hoisted himself over the awkwardly projecting table edge.

Keeping a lookout over his shoulder he dragged the heavy lump of metal to the fence, boosted it over, and shinnied after it.

Smaller images, no more than two inches high, shinnied up a table leg.