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High-rise tasks in agriculture, forestry and building industry requires robots possessing climbing function. Motivated by these potential applications and inspired by the climbing motion of animals such as inchworms, we have developed a novel biped climbing robot - Climbot. Built with a modular approach, the robot consists of five 1-DoF joint modules connected in series and two special grippers mounted at the ends. With this configuration, Climbot is able not only to climb a variety of media, but also to grasp and manipulate objects, and hence is a ??mobile?? manipulator. In this paper, we first introduce the development of this novel robot, and then illustrate three climbing gaits based on the unique configuration of the robot. Experiments of climbing poles are carried out to verify the climbing functions and to demonstrate potential application of the proposed robot.