Making a HL2 Strider, but the IK Legs wont work realistically


As you can see in this video, the striders legs doesn’t bend right.
It moves in unexpected ways that would cause problems, making it look less like a massive three leged spider.

Heres a picture of how its supposed to look when it’s low towards the ground.
image
It’s legs should be facing up.

It’d be nice if you can help me find a way to add limitations to the IK, or even a better method that has limitations. thank you

Also necessary that the IK doesnt violently change the orientation of the part, since the leg skinned mesh would freak out

For this, you need to use a pole. Just use a part for that.

A… pole? what, could you describe further?