A method for controlling an ambulatory exoskeleton linked to a user , the exoskeleton comprising a pelvis element on which are articulated two lower limbs extending substantially parallel to the lower limbs of the user , each lower limb of the exoskeleton having a thigh segment articulated to a leg segment , which is itself articulated to a foot , the exoskeleton being provided with actuators controlling the rotation and/or the torque to be applied to the joints connecting the lower limbs to the pelvis element and to the joints connecting the thigh segments to the leg segments , each foot of the exoskeleton being connected to a corresponding foot of the user and comprising an interface on which a foot of the user rests, the exoskeleton likewise comprising measurement means for measuring the normal component (R Ng , R Nd ), with respect to a bearing plane (P) of the foot , of a bearing force (R d , R g ) under each foot 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 (P) of the foot , of the bearing force (R d , R g ) at a first point under each foot 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 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 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 (P) of the foot , of the bearing force (R d , R g ) measured under each foot 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 ; - controlling the actuators according to the determined control setpoints. - measuring only the normal component (R Ng , R Nd ), with respect to a bearing plane (P) of the foot , of the bearing force (R d , R g ) at a first point under each foot 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 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 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 (P) of the foot , of the bearing force (R d , R g ) measured under each foot 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 ; - controlling the actuators according to the determined control setpoints. <EOS>