A method for moving an exoskeleton receiving a human operator, said exoskeleton having a plurality of degrees of freedom including at least one degree of freedom actuated by an actuator controlled by data processing means and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation by the data processing means 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 in a tipping state; (b) in a database stored in data storage means of triplets of: - a set of virtual constraints on said actuated degrees of freedom, the virtual constraints being parameterised by a phase variable, - a controller for said exoskeleton capable of generating commands of said actuators so as to fulfil the virtual constraints by implementing at least one attracting stable trajectory in a topological manifold formed by all the n-tuples of the possible values for said non-actuated degrees of freedom and the phase variable, - a stability pool formed by all the points of a hyperplane of said manifold for a given value of the phase parameter, from which the execution of said controller allows a convergence to said attracting stable trajectory; identifying a set of virtual constraints such that said tipping state is included in said stability pool associated with this set of virtual constraints; (c) executing the controller associated with the identified set of virtual constraints such that the exoskeleton walks. (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 in a tipping state; (b) in a database stored in data storage means of triplets of: - a set of virtual constraints on said actuated degrees of freedom, the virtual constraints being parameterised by a phase variable, - a controller for said exoskeleton capable of generating commands of said actuators so as to fulfil the virtual constraints by implementing at least one attracting stable trajectory in a topological manifold formed by all the n-tuples of the possible values for said non-actuated degrees of freedom and the phase variable, - a stability pool formed by all the points of a hyperplane of said manifold for a given value of the phase parameter, from which the execution of said controller allows a convergence to said attracting stable trajectory; identifying a set of virtual constraints such that said tipping state is included in said stability pool associated with this set of virtual constraints; - a set of virtual constraints on said actuated degrees of freedom, the virtual constraints being parameterised by a phase variable, - a controller for said exoskeleton capable of generating commands of said actuators so as to fulfil the virtual constraints by implementing at least one attracting stable trajectory in a topological manifold formed by all the n-tuples of the possible values for said non-actuated degrees of freedom and the phase variable, - a stability pool formed by all the points of a hyperplane of said manifold for a given value of the phase parameter, from which the execution of said controller allows a convergence to said attracting stable trajectory; (c) executing the controller associated with the identified set of virtual constraints such that the exoskeleton walks. <EOS>