Method for operating a robot, wherein the robot comprises movable elements ELE m which can be driven by means of actuators AKT n, and is designed to carry out a movement B with the elements ELE m, where n=1, 2, N, m = 1,2..,. M, N = 1, 2,..,. M = 1, 2,..,. and wherein the robot comprises a proprioceptive sensor system for determining signals W G k B t of a group of measured variables G k B, where k = 1, 2,..,. K and K ≥ 1, characterizing the movement B of the elements ELE m and interactions thereof with an environment, comprising the following steps: - determining, by means of the sensor system, reference signals W G k B R t of the measured variables G k B during at least one execution of the movement B of the elements ELE m as a reference movement B, wherein the reference signals W G k B R t include reference interactions of the elements ELE m with the environment, in particular external forces and/or torques acting on the elements ELE m, - on the basis of reference signals W G k B R t, using an adaptive method, automatically determining an analytical mathematical dynamic model M G k B for describing the reference movement B executed by the robot, including the reference interactions, by the measured variables G k B, - during proper execution of the movement B: ∘ using the analytical mathematical dynamic model M G k B, predicting signals W G k B P t for describing the reference movement B, including the reference interactions, by the measured variables G k B, ∘ comparing signals currently determined during proper execution of the movement B W G k B t with the predicted signals W G k B P t for determining a deviation Δ G k B t between W G k B P t and W G k B t, where k = 1, 2,..,. K and K ≥ 1, ∘ insofar as the deviation Δ G k B t does not meet a predetermined condition BED G k B, on the basis of the deviation Δ G k B t, classifying the currently occurring deviation Δ G k B t in one of a number I of predetermined error categories F i, G k B Δ G k B t, where i = 1, 2,..,. I and I ≥ 1, wherein, for each of the error categories F i, G k B Δ G k B t, predetermined/or automatically scheduled control information S F i, G k B t for the actuators AKT k are provided, and ∘ controlling the actuators AKT k taking into account the control information S F i, G k B t. - determining, by means of the sensor system, reference signals W G k B R t of the measured variables G k B during at least one execution of the movement B of the elements ELE m as a reference movement B, wherein the reference signals W G k B R t include reference interactions of the elements ELE m with the environment, in particular external forces and/or torques acting on the elements ELE m, - on the basis of reference signals W G k B R t, using an adaptive method, automatically determining an analytical mathematical dynamic model M G k B for describing the reference movement B executed by the robot, including the reference interactions, by the measured variables G k B, - during proper execution of the movement B: ∘ using the analytical mathematical dynamic model M G k B, predicting signals W G k B P t for describing the reference movement B, including the reference interactions, by the measured variables G k B, ∘ comparing signals currently determined during proper execution of the movement B W G k B t with the predicted signals W G k B P t for determining a deviation Δ G k B t between W G k B P t and W G k B t, where k = 1, 2,..,. K and K ≥ 1, ∘ insofar as the deviation Δ G k B t does not meet a predetermined condition BED G k B, on the basis of the deviation Δ G k B t, classifying the currently occurring deviation Δ G k B t in one of a number I of predetermined error categories F i, G k B Δ G k B t, where i = 1, 2,..,. I and I ≥ 1, wherein, for each of the error categories F i, G k B Δ G k B t, predetermined/or automatically scheduled control information S F i, G k B t for the actuators AKT k are provided, and ∘ controlling the actuators AKT k taking into account the control information S F i, G k B t. ∘ using the analytical mathematical dynamic model M G k B, predicting signals W G k B P t for describing the reference movement B, including the reference interactions, by the measured variables G k B, ∘ comparing signals currently determined during proper execution of the movement B W G k B t with the predicted signals W G k B P t for determining a deviation Δ G k B t between W G k B P t and W G k B t, where k = 1, 2,..,. K and K ≥ 1, ∘ insofar as the deviation Δ G k B t does not meet a predetermined condition BED G k B, on the basis of the deviation Δ G k B t, classifying the currently occurring deviation Δ G k B t in one of a number I of predetermined error categories F i, G k B Δ G k B t, where i = 1, 2,..,. I and I ≥ 1, wherein, for each of the error categories F i, G k B Δ G k B t, predetermined/or automatically scheduled control information S F i, G k B t for the actuators AKT k are provided, and ∘ controlling the actuators AKT k taking into account the control information S F i, G k B t.