Assign menu function to keychord?

[B. T. Raven]

In an .tex buffer (using Auctex) and under Menu > Command , there is a 
Clean All option that seems to call an undocumented (menu-function-176). 
Is it possible to assign this to some key combination? Is it in general 
possible to assign anything found in the menu bars to the keyboard?

Thanks,

Ed