I'm wondering if there's a way of attaching (besides "Conform To" and "Parent To") a character's foot to a floor (as an example). Then, I'd like to be able to move or tip the character's hip, or bend the character's abdomen or chest, and still have the foot remain attached on the floor. The result would be an arc in the character's body without having the character float away from the floor.

Is there a way to accomplish this?