This paper describes the development of end-effector for disaster response robot with commonly structured limbs and experiment of climbing a vertical ladder. The end-effector is required to have the ability to hang on rungs and side rails and work as both hands and feet. We developed an end-effector with hook-like shape so that it can hang on both rungs and side rails, and grooves on the back of hook make it possible for the end-effector to play the role of both hands and feet, fixing on the rungs of ladder firmly. Moreover, the design of the end-effector allows the robot to perform some locomotion style other than climbing, like bipedal walking. We made the experiment in climbing a ladder obeying Japanese Industrial Standards (JIS) performed by the robot. As a result, end-effectors enabled the robot’s feet to reach the highest rung.