  Legged robots exhibit significant potential across diverse applications,
including but not limited to hazardous environment search and rescue missions
and the exploration of unexplored regions both on Earth and in outer space.
However, the successful navigation of these robots in dynamic environments
heavily hinges on the implementation of efficient collision avoidance
techniques. In this research paper, we employ Collision Cone Control Barrier
Functions (C3BF) to ensure the secure movement of legged robots within
environments featuring a wide array of static and dynamic obstacles. We
introduce the Quadratic Program (QP) formulation of C3BF, referred to as
C3BF-QP, which serves as a protective filter layer atop a reference controller
to ensure the robots' safety during operation. The effectiveness of this
approach is illustrated through simulations conducted on PyBullet.
