A method for loading containers that involves intermittently shifting at least one first empty housing and one second empty housing of the containers between respective first and second rest positions. According to one embodiment the method involves calculating an available time td corresponding to the time necessary for an empty housing to reach a loading position of a manipulator and comparing the available time td with a positioning time necessary for the manipulator to collect from its current position each object to be loaded from a collecting area and depositing it in a loading position coinciding with the position of an empty housing of a container. The object to be collected and the delivery position of the object in an empty housing corresponds with a loading position of the manipulator in which the positioning time is closest to the available time td.