I just learned how to apply the IK yesterday. It took some time to figure out how, but then I read the PDF : ) The one thing that acts strange, and I'd like to change is how when you chose the chain IK tool, click the hip bone, then click the bottom most foot bone, it creates the helper cube... and gives the ankle bone a constraint... but I don't like the constraint it gives. I don't want the knee to be able to bend backwards. Also, IK should work with two bones on the foot. I played with hopper in the Carrara Scene Wizard. It has two helpers in the foot, looks helpful. Beast is looking ready for combat. Does his mouth open yet? I can imagine some shark-like teeth in there.

Never Give Up!