macos - Use the keyboard to activate the menu bar

In OSX, is it possible to navigate the menu bar without using the mouse (such as the arrow keys)? I'm looking for something similar to how Windows does this – pressing Alt allows the arrow keys to navigate the menu bar, pressing Enter invokes the menu item. This is more ergonomic as my hands don't have to leave the keyboard to invoke menu items. I'm aware of the various keyboard shortcuts, but unfortunately not all menu items have them.

Followup: I discovered Full Keyboard Access which solves half the problem. With Full Keyboard Access set to All Controls, is there a key that activates the menu bar?

Answer

From Mac OSX Keyboard Commands:

Full Keyboard Access (see Chapter 3)

  control+F1
    Toggle Full Keyboard Access on/off
  control+F2 (or control+M)
    Focus keyboard control on menu bar
  control+F3 (or control+D)
    Focus keyboard control on Dock
  control+F4 (or control+W)
    Focus keyboard control on active Window or cycle to next window
  control+F5 (or control+T)
    Focus keyboard control on toolbar
  control+F6 (or control+U)
    Focus keyboard control on palette (utility window)
  control+F7
    In windows and dialogs, switch focus to text boxes/lists/controls
  arrow keys
    Navigate active item
  return, enter, or spacebar
    Select highlighted item
  return or enter
    Select default dialog control (OK, Yes, No, Save, Open, etc.)
  escape
    Cancel action, menu, or dialog

control+F1 to enable Full Keyboard Access (only needed once), then

control+F2 (or control+M) is the command you are looking for.