Nowadays Dynamic Legged robots are one of the major field of research in robotics thanks to their capability of movement in different, various and challenging scenarios. They are used in outdoor environments to help human and collaborate with them, performing tasks in situations that are critical and hazardous even for human safety. The demanding work for researchers is to develop techniques to maintain always a robust motion in such difficult terrains, allowing the robot to accomplish the desired tasks. The robot's motion is performed using innovative methods based on trajectory planning optimization, control algorithm and state estimation. Although several studies in these fields and optimal results achieved, shin collision can occur during the locomotion, causing the getting stuck of the robot and preventing, as a consequence, the achievement of predetermined goals.