Abstract: The present invention relates to a method for moving a bipedal exoskeleton, the method comprising obtaining a theoretical elementary trajectory of the exoskeleton and executing a control loop defining the change in an actual position of the exoskeleton so as to implement an actual elementary trajectory close to said theoretical elementary trajectory. Executing the control loop comprises, in each iteration of the loop, estimating a current state of the exoskeleton as a function of said actual position, determining a wrench to be applied to the exoskeleton in the next iteration of the loop to compensate for a deviation between said estimated current state of the exoskeleton and an expected state of the exoskeleton according to said theoretical elementary trajectory, determining the wrench and/or applying it to the exoskeleton taking into account a model of the flexibility of the exoskeleton with respect to a rigid robot.

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