Robert has previously climbed a number of the world's best-known skyscrapers، including the Petronas Towers in Kuala Lumpur and Dubai's 828-meter Burj Khalifa.
He has been arrested around 120 times for similar stunts since he began climbing buildings 20 years ago، his manager said. Formerly known as the Heron Tower، it is London's third-tallest building and becomes the sixth structure that Robert has scaled in the city.
He told CNN before the climb that he was feeling nervous، as he does before all of his climbs.
"I fully feel alive when my life is at stake. It may sound a bit scary and crazy but this is the way it is،" he added to the UK's Press Association.
Robert also said that he carries his passport with him during his climbs، explaining that it is "very reassuring for the authorities" when he is arrested.