Applying IK to the legs

The idea behind the legs is identical to the arms. I’ll give a recap and show you what it should look like.

The quick steps are as follows:

1. Add an IK constraint to the foot bone.
2. Make two new bones, Foot.L.IK and Leg.L.Pole, and clear the parents with Alt + P.
3. Place the IK bone in front of the ankle and the pole in front of the knee.
4. Bend the knee in Edit Mode just as you did for the arm.
5. Set the target and pole to the respective bones.
6. Untick Stretch and set the chain length.
7. Push the target bone up to bend the leg, move the pole to the side, and adjust the pole angle so that the knee points towards the pole bone.

With all that done, you should have something similar to the following:

Figure 6.7 – IK setup with bones and constraints

Figure 6.7 shows the whole setup for the legs. Some of your values may be different so if you don’t get the correct result at first, just...