How to make legs collide with objects?

I'm trying to make the legs of all the characters collide with objects, but I noticed that it automatically turns CanCollide back to false, so that won't work. I tried using an invisible part welded to the character's leg in the same shape, but it ended up making the character all bumpy and messed with the camera, so I tried scaling it a little bit, and it seemed to work. However, I got a lot of feedback saying that sometimes it wouldn't work as intended, the ball would roll up my character's body instead of just following it. Since neither of these options works as intended, I'm not sure what else to try. Any suggestions?

(To clarify, I'm trying to make a soccer game and a certain button is supposed to drag the ball alongside the character's leg, but it mostly just rolls under, which I don't want.)