Kelley, Joints, as a rule are notoriously tricky. When combined with bones, it can be a true nightmare. I've found that ball joints are hell with IK. Custom constraints, not so much but make sure that you have your ranges set up the way that you want and the rotation order in the right sequence, or you'll see your bones go crazy! BTW... never try to undo IK moves on joints. I've found it tends to screw up the initial positions of the bones. Another BTW.... REALLY COOl MODEL!!! Ken