How can I make my own Inverse Kinematics module?

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Hello everyone.

I have been studyng Inverse Kinematics for a while now, and spoiler: I didn’ t understand a lot.
I have looked at many many modules but one of the two things happened:

  1. They were old and outdated.
  2. It didn’ t work as expected.
    So now what I’ m tryng to do is learn Inverse Kinematics and make my own module which I can use for things like:
  • Leg Footplanting
  • Procedurally Animated rigs like spiders and robots

I would also like if there was a way to make it very similiar to the IKControl instance roblox added so it has a ChainRoot and EndEffector and Target.
But now you’ re asking why I’ m not using the IKControl, the answer is because the rotations are very buggy and unrealistic.