A ladder climbing method for limb mechanism robot "ASTERISK" is proposed. This robot has six legs and 24 DOF: 4DOF for each leg. The upper three legs hold on the upper rung by creating a triangular supporting space. The lower three legs hold on the lower rung in the same way. Hence the legs can support the force in all directions, and the robot can climb the ladder stably. When the robot moves its body, the robot selects supporting legs and distributes its weight to these legs based on their force margins.
