The invention relates to a method for loading containers (3, 4) comprising at least one first empty housing (31, 41) and one second empty housing (32, 42) the mentioned containers (3, 4) being intermittently shiftable between a first rest position (1) and a second rest position (1). The method comprises calculating an available time td corresponding to the time necessary for an empty housing (31, 32, 41, 42) to reach a loading position (11, 12, 21, 22), and comparing it with a positioning time tp11, tp12, tp21 and tp22 necessary for the manipulator to collect from its current position each object to be loaded from a collecting area (5) and depositing it in a loading position (11, 12, 21, 22) coinciding with the position of an empty housing (31, 32) (41, 42) of a container (3, 4). The object to be collected (a, b, c, d) and the delivery position of said object in an empty housing (31, 32) (41, 42) corresponds with a loading position (11, 12, 21, 22) of the manipulator the positioning time tp11, tp12, tp21 or tp22 of which is closest to the available time td.