A method for controlling a robot comprising at least one part that can be deformed by a set of actuator(s) implemented by computer, each point of a set of point(s), called effecter point(s) of the robot, having to follow a determined trajectory, the robot being defined by a model of nodes and a matrix K defining a variation of the internal forces of the robot at each node as a function of the variation of position of the nodes, the method being characterized in that, to determine the control intended for each actuator on an i th control computation step: i/ the values of the matrix K are updated as a function of the current position of the nodes of the robot; ii/ the current values of the Jacobean matrix J of a vector δ (x) are determined, where x is a position vector of the nodes and the vector δ (x) relative to the displacement of each actuator controlled for a movement of the robot and includes at least one subset of line(s) relative to each effecter point and indicating the coordinates of the deviations between the position of said effecter point and its determined trajectory, and at least one subset of line(s) indicating the displacement of each actuator, Δx that bears out: - K. Δx = p + f(x i-1) is determined, where Δx represents a variation of the vector x, the vector p represents the external forces being exerted on the robot, K is the matrix updated in the step i/, x i-1 is the current position vector of the nodes and f(x i-1) is the vector of the internal forces being exerted on the robot in its current position, X free = x i-1 + Δx is computed, as well as the values of the vector δ (x free); iii/ the values of the matrix W = J. K -1. J T are computed, where K -1 is the inverse matrix of K and J T is the transposed matrix of J; and iv/ the equation δ = W. λ + δ 0 is solved, to determine the values of the vectors δ and λ at said i th computation step, where λ is a vector including, for each line of the vector δ relative to an effecter point, a line including a zero value and, for each line of the vector δ relative to an actuator, a line including a value of load exerted by the actuator corresponding to the indicated displacement, and δ 0 is a vector equal to δ (x free); and v/ the control command intended for each actuator is deduced as a function at least of values determined in the step iv/ for the vector δ or λ. i/ the values of the matrix K are updated as a function of the current position of the nodes of the robot; ii/ the current values of the Jacobean matrix J of a vector δ (x) are determined, where x is a position vector of the nodes and the vector δ (x) relative to the displacement of each actuator controlled for a movement of the robot and includes at least one subset of line(s) relative to each effecter point and indicating the coordinates of the deviations between the position of said effecter point and its determined trajectory, and at least one subset of line(s) indicating the displacement of each actuator, Δx that bears out: - K. Δx = p + f(x i-1) is determined, where Δx represents a variation of the vector x, the vector p represents the external forces being exerted on the robot, K is the matrix updated in the step i/, x i-1 is the current position vector of the nodes and f(x i-1) is the vector of the internal forces being exerted on the robot in its current position, X free = x i-1 + Δx is computed, as well as the values of the vector δ (x free); iii/ the values of the matrix W = J. K -1. J T are computed, where K -1 is the inverse matrix of K and J T is the transposed matrix of J; and iv/ the equation δ = W. λ + δ 0 is solved, to determine the values of the vectors δ and λ at said i th computation step, where λ is a vector including, for each line of the vector δ relative to an effecter point, a line including a zero value and, for each line of the vector δ relative to an actuator, a line including a value of load exerted by the actuator corresponding to the indicated displacement, and δ 0 is a vector equal to δ (x free); and v/ the control command intended for each actuator is deduced as a function at least of values determined in the step iv/ for the vector δ or λ.