This paper presents the implementation of an adaptive control strategy of the climbing robot ROMA2. Its main area of application is an autonomous inspection of complex 3D infrastructure in construction industry, like bridges, skeletons of the buildings, offshore platforms, etc. Due to the fact that gravity factors have a high influence on the quality and security of the motion, the adaptive control strategy has been selected. This strategy is based on the gain scheduling architecture for the most important axis, changing on-the-fly the parameters of the controllers.