Mountable large-scale robots often appear in science fiction novels, movies, and even in digital games. In these media contents, large-scale robots have been utilized to build large structures and perform interactive tasks in an event of disasters by overcoming the limitations of manpower. In the real world, because mountable large-scale robots exhibit high mass and damping characteristics, it is essential to consider not just the kinematics of the robot, but also its dynamics. Further, it is important to consider the safety of users working alongside the robot within the workspace. Our approaches to address these issues include, multi-body control considering the dynamics of the robot, operational space control (OSC), null space motion control, and haptic control for the interaction between robot and manipulator. Through these approaches, we were able to control the mountable large-scale robot efficiently and safely. By utilizing various control methods, we will be able to get a potential applications such as construction/building sites with large structures, rescue work in a disaster environment, work in extreme environments (i.e., underground and space development), national security, and so on.