Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person. - Vaiyee Huynh; Guillaume Burger; Quoc Viet Dang; Raphaël Pelgé; Guilhem Boéris; Jessy W. Grizzle; Aaron D. Ames; Matthieu Masselin (Frontiers Robotics AI, 2021)