The two bright stubs are certainly attachment devices. The knob with pointy top and bar of smaller diameter is typical of quick attach and release mechanism.
The bars on the under-side are very likely attachment devices as well, instead of part of the supporting structure of the truck, because the screws at the bases of each bar.
It should be able to be launched from both surface mother ship and submarines.
If not have been mentioned, the blue circled device seems to be fordable fin/wing for gliding to increase duration and range by conserving energy.