The present invention relates to a method for moving an exoskeleton (1) for receiving a human operator, the exoskeleton (1) comprising a plurality of degrees of freedom including at least one actuated and at least one non-actuated degree of freedom. Have a degree. The method includes the steps of: (a) generating and issuing a command to at least one of the actuators to cause the exoskeleton (1) to tilt when an initiation request is received; A set of virtual requirements for the degrees of freedom; a controller for the exoskeleton (1) that can generate commands of the actuator to fulfill the virtual requirements by implementing at least one attractive stable trajectory; In a database stored in a data storage means (12) consisting of three sets of stability pools formed by all points capable of converging to an attractive stable trajectory, the tilt state is a virtual value of this set. Identifying a set of virtual requirements to be included in a stability pool associated with the requirements; and (c) exoskeleton (1) walking And executing the controller associated with a set of virtual requirements set urchin identified, the implementation of.
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