Lower-limb exoskeletons (LLEs) have demonstrated considerable potential for rehabilitation, assistive, and augmentative purposes. Besides, existing devices typically lack user-friendliness and real-time adaptation to unstructured environments. We propose a modular framework for adaptive locomotion, consisting of a robotic vision module for perception of the environment and a step generation module for executing foot trajectories in real time. This research highlights the ongoing development of a multi-step planning module to generate coordinated sequences of steps that will enable the exoskeleton to run actions in advance, respecting environmental and task constraints.