Climbing robots are expected to be utilized in high places where human access is difficult or dangerous. Most climbing robots specialize in moving on a single vertical surface, making climbing multiple vertical surfaces challenging. This study aims for a single transformable robot to climb multiple vertical surfaces, with a lattice-structured vertical surface and wall surface as the climbing environments. To achieve the above objective, this study proposes the following three methods: (i) A configuration of a transformable end effector combining gripping by a gripper and suction by a suction cup (suction cup assisted gripper). (ii) Robot recognition of success or failure in fence gripping by the gripper during fence climbing (gripping confirmation) and corrective actions in case of failure. (iii) Robot recognition of success or failure in wall suction by suction cups during wall climbing (suction confirmation) and corrective actions.