Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. - Huynh V; Burger G; Dang QV; Pelgé R; Boéris G; Grizzle JW; Ames AD; Masselin M (Frontiers in robotics and AI, 2021)