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This paper presents a method for optimizing the configuration of a multilimbed robot (the robot with both arms and legs) which works with a big load. A least-effort criterion is proposed as the base of optimization. When the applying Cartesian force and the task point are given, the best configuration of the robot will be easily found through a series of motions of the robot and some simple computations. The imaginary motion varies with theworking environment related to the construction of the robot, the task point and the force direction. The working environment could be predicted by the proposed inequalities, so that the way of motion could be decided in advance.