By request, here is the Mallakhamb climb...
This skill has prerequisites:
1. You need to be able to have full overhead motion without flaring the ribs. You can use this test here. (In the video, I'm holding a bar. For the climb, the palms will face out. The rotation isn't so important. The range in the shoulder is.)
2. You need a solid toe climb and somewhat conditioned toes. (If you would like me to break toe climbs down, just let me know.)