Agriculture, forestry, and building industry would be prospective fields of robotic applications. High-rise tasks in these fields require robots with climbing skills. Motivated by these potential applications and inspired by animal climbing motion, we have developed a biped climbing robot—Climbot. Built with a modular approach, the robot consists of five joint modules connected in series and two special grippers mounted at the ends, with the scalability of changing degrees-of-freedom (DoFs). With this configuration, Climbot not only has superior mobility on multiple climbing media, such as poles and trusses, but also has the function of grasping and manipulating objects. It is a kind of “mobile” manipulator and represents an advancement in development of climbing robots. In this paper, we first present the development of this climbing robot with modular and bio-inspired methods, and then propose and compare three climbing gaits based on the unique configuration and features of the robot. A series of challenging and comprehensive experiments with the robot climbing in a truss and performing an outdoor manipulation task are carried out, to illustrate the feasibility, the features, the climbing, and manipulating functions of the robot, and to verify the effectiveness of the proposed gaits.