Today, many robots that move up and down walls and ladders are being researched, but robots that move laterally on grids such as fences are not so much researched. In this study, we propose a design and locomotion method for a three-limbed robot that can move on both fences and walls. A gripper for fences and a gripper combined with suction cups for walls are mounted on each limb, and the same body can move on different surfaces. In addition, we aim to improve the success rate of movement by confirming whether the gripper has succeeded in grasping when moving on the fence.