When you animate with IK you need an FK setup in the rig to keep knees, elbows, tails, etc, where you want them. This is the case in the vast majority of 3D programs as well. You can add a sudo FK system that does eliminate the wobbles in Poser. You can do this in Poser 9 and up, so there is no need to upgrade either. It isn't that the Poser IK is terrible. It is that you don't have a good animatable rig in your figure to use it. As far as partial IK goes, you can make rigs that you don't use Poser IK system that have IK and FK control in them at the same time. Poser characters were never designed for animation, they are for posing. 

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