A method for controlling an ambulatory exoskeleton linked to a user, the exoskeleton comprising a pelvis element on which are articulated two lower limbs (20, 30) extending substantially parallel to the lower limbs (120, 130) of the user, each lower limb (20, 30) of the exoskeleton having a thigh segment (21, 31) articulated to a leg segment (22, 32), which is itself articulated to a foot (23, 33), the exoskeleton being provided with actuators (40, 41, 42, 43) controlling the rotation and/or the torque to be applied to the joints (26, 27, 36, 37) connecting the lower limbs (20, 30) to the pelvis element and to the joints connecting the thigh segments (21, 31) to the leg segments (22, 32), each foot (23, 33) of the exoskeleton being connected to a corresponding foot (123, 133) of the user and comprising an interface (24, 34) on which a foot (123, 133) of the user rests, the exoskeleton likewise comprising measurement means (25, 35) for measuring the normal component (R Ng, R Nd), with respect to a bearing plane of the foot (123, 133), of a bearing force (R d, R g) under each foot (123, 133) of the user, the control method being characterized in that it comprises the following steps: - measuring only the normal component (R Ng, R Nd), with respect to a bearing plane of the foot (123, 133), of the bearing force (R d, R g) at a first point under each foot (123, 133) of the user; - calculating a target value for the intensity of a vertical component (Z Ed, Z Eg) of the resultant of the balancing forces (R Eg, R Ed) applied to the exoskeleton, the resultant of the balancing forces being exerted at a second point of each foot (123, 133) of the exoskeleton, the target value of the vertical component (Z Ed, Z Eg) of the resultant of the balancing forces (R Eg, R Ed) applied to the exoskeleton being a function of the intensity of the normal component (R Ng, R Nd) of the bearing force (R d, R g) measured under the corresponding foot (123, 133) of the user; - inputting the target value calculated for the intensity of a vertical component (Z Ed, Z Eg) of the resultant of the balancing forces (R Eg, R Ed) applied to the exoskeleton, and also the value of the normal component (R Ng, R Nd), with respect to a bearing plane of the foot (123, 133), of the bearing force (R d, R g) measured under each foot (123, 133) of the user, into a model of the assembly user + exoskeleton; - executing the model of the assembly user + exoskeleton in order to determine control setpoints to send to the actuators (40, 41, 42, 43); - controlling the actuators (40, 41, 42, 43) according to the determined control setpoints. - measuring only the normal component (R Ng, R Nd), with respect to a bearing plane of the foot (123, 133), of the bearing force (R d, R g) at a first point under each foot (123, 133) of the user; - calculating a target value for the intensity of a vertical component (Z Ed, Z Eg) of the resultant of the balancing forces (R Eg, R Ed) applied to the exoskeleton, the resultant of the balancing forces being exerted at a second point of each foot (123, 133) of the exoskeleton, the target value of the vertical component (Z Ed, Z Eg) of the resultant of the balancing forces (R Eg, R Ed) applied to the exoskeleton being a function of the intensity of the normal component (R Ng, R Nd) of the bearing force (R d, R g) measured under the corresponding foot (123, 133) of the user; - inputting the target value calculated for the intensity of a vertical component (Z Ed, Z Eg) of the resultant of the balancing forces (R Eg, R Ed) applied to the exoskeleton, and also the value of the normal component (R Ng, R Nd), with respect to a bearing plane of the foot (123, 133), of the bearing force (R d, R g) measured under each foot (123, 133) of the user, into a model of the assembly user + exoskeleton; - executing the model of the assembly user + exoskeleton in order to determine control setpoints to send to the actuators (40, 41, 42, 43); - controlling the actuators (40, 41, 42, 43) according to the determined control setpoints.