Kelley, I use the instructions of the EOVIAs walk tutorial in their site. The "Jumping Alien" has the following parameters for the leg: 1st Bone: The Hip (Allways!) Click on the Right Tigh bone. Click on the Chain IK and the ankle bone. Click on the ankle bone and the Foot bone (with the IK Chain) For the knee bone the constrain parameters on the tutorial are: Ball Joint: Axis: X= Limited 3,0 > 0,0 > -135,0 Y= Locked Z= Locked Repeat the parameters for the Left leg. As Brian say, you may have to change a few and adjust them. Good work, youre beast is very nice! ;-)