The present invention relates to a method for moving an exoskeleton (1) receiving a human operator, said exoskeleton (1) having a plurality of degrees of freedom including at least one degree of freedom actuated and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of steps of:(a) when a start request is received, generating and emitting a command to at least one of said actuators so as to put the exoskeleton (1) in a tipping state；(b) in a database stored in data storage means (12) of triplets of: a set of virtual requirements on said actuated degrees of freedom,a controller for said exoskeleton (1) capable of generating commands of said actuators so as to fulfil said virtual requirements by implementing at least one attracting stable trajectory,a stability pool formed by all the points from which the execution of said controller allows a convergence to said attracting stable trajectory；identifying a set of virtual requirements such that said tipping state is included in said stability pool associated with this set of virtual requirements；(c) executing the controller associated with the set of virtual requirements identified such that the exoskeleton (1) walks.
