I just started a project in Unity3d. In the game you can drag the hands and feet of a character to  move them. This way you need to slowely climb up a wall, without strechting the character too much, than you will fall to your death. 

To achieve these climbing-physics I tried using the unity ragdoll system, but it wasn't working the way I needed. I also tried making it from scratch using the 'character controller' and 'character joint' components, without succes. 

I coudn't find any tutoruials on this topic. And to be clear, it don't like a ledge climbing system. More of a moving ragdoll character.

This is what I mean:

Does anyone know how to do this.

Climbing physics are too big of a mountain for me to grasp as well. I hope you grab hold of a good tutorial soon and that the leaning curve isn't too steep.