A method for controlling a robotic device, in which a composite robot trajectory model made up of robot trajectory models of the movement skills is generated for a sequence plan for a task to be carried out by the robot including a sequence of movement skills and primitive actions to be carried out, and the robot is controlled, if after one movement skill according to the sequence plan one or multiple primitive action(s) is/are to be executed before the next movement skill, by interrupting the control of the robot according to the composite robot trajectory model after carrying out the movement skill, and by executing the one or multiple primitive action(s) and then resuming the control of the robot according to the composite robot trajectory model.