Abstract: This study presents a walk-to-ladder climb transfer for a Multi-locomotion Robot (MLR) with force adjustment using a key joint method which has been developed originally for releasing the additional internal stress by changing a redundant position control joint to force control. Walk-to-ladder climb transfer is a multi-contact complicate robot motion with robot hands and feet cooperation. Three sub-motions were designed in this motion transfer: (1) Raise hands to catch the ladder’s rung, (2) Walk close to the ladder, (3) Climb on the ladder with legs. In order to compensate the position errors which always happened with position control, the key joint method has been studied in this study to improve the contact situations between the robot hand and the supporting rung. Experimental results show that this control method is effective for compensating the distance errors between hands and feet, thus the sliding of robot foot and the tumble problems has been prevented successfully. As a result, the MLR performs the walk-to-ladder climb transfer stably and smoothly.