Mountable large-scale robots often captivate our imagination in science fiction novels, movies, and digital games. These impressive machines are depicted building large structures and performing critical tasks during disasters, showcasing their ability to overcome human limitations. In reality, these robots present unique challenges due to their high mass and damping characteristics. It’s crucial not only to consider their kinematics but also their dynamics to ensure optimal performance and safety. Our research focuses on tackling these challenges through several advanced control methods. We employ multi-body control that takes into account the robot’s dynamics, operational space control (OSC), null space motion control, and haptic control to enhance the interaction between the robot and its manipulators. These approaches allow us to efficiently and safely control mountable large-scale robots. By leveraging these diverse control techniques, we envision applications in various fields such as constructing large structures, performing rescue operations during disasters, working in extreme environments like underground or space development, and even contributing to national security. Our goal is to push the boundaries of what these remarkable robots can achieve, ensuring they can be used effectively and safely in real-world scenarios.