Quote - yup, what Trekkie said. IK uses the foot or hand position to control position of the leg and arm. It makes some animations easier.

ok markschum, thanks for the reply :D.... but i think i didn't explain clearly what my problem is. so i visualized it . if u have time plz just take a look at this......

http://www.youtube.com/watch?v=ioV2xgmIbFs  

the figure is downloadable, u may chack it manually  in poser,