I find the best way to fight them is to lock on to one of the legs and keep circling close in that direction. It will try to turn to face you, often not attacking at all, and the bite attack and head lunges will usually miss. The main danger is the stomp attacks and the jump. When it starts stomping, roll away and move to a safe distance (it's a good opportunity to heal if needed) then immediately move in close again. The jump is a bit tricky due to the strange timing - you basically have to roll slightly later than you'd expect, practically at the same moment it lands. I have no idea why that is.
Shields are fairly pointless against these guys so just two-hand whatever weapon you are using and keep taking shots at the legs.