Abstract: The present invention relates to a method for moving a bipedal exoskeleton (1) accommodating a human operator, the method comprising the implementation, by data processing means (11c) of the exoskeleton (1), of steps of: (a) obtaining a theoretical elementary trajectory of the exoskeleton (1); (b) executing a control loop defining the change in an actual position of the exoskeleton (1) so as to implement an actual elementary trajectory close to said theoretical elementary trajectory, comprising, in each iteration of the loop: —estimating a current state of the exoskeleton (1) as a function of said actual position; —determining a force torsor to be applied to the exoskeleton (1) in the next iteration of the loop to compensate for a deviation between said estimated current state of the exoskeleton (1) and an expected state of the exoskeleton (1) according to said theoretical elementary trajectory; the determination of the force torsor and/or the application thereof to the exoskeleton (1) taking into account a m