Understanding IK for R6? (Walk cycle)

So for a long time I have been trying to understand IK… for R6. I have seen a lot of topics about R6 IK walking but couldn’t find any solid solutions or answers that actually helped.

Here’s what I want to know:
A simple way to make IK for R6 where I can build out of.
How it works, because I am not here to just copy paste.

I have found one that works, but there is one big problem that is the rotation for when the target point is in front or back it rotates the Y which I can’t understand why exactly and how to prevent or fix that.

I have no idea how easy or hard it is since no body really discusses about it.
Any help would be useful. Thank you.


For those of you about to say, “what is IK?” It is inverse kinematics.

Sorry, I can’t help you out as I am not currently at my computer but best of luck!


Not in a hurry. I just want to find a clear way for inverse kinematics to be done, for everyone.


I don’t know anything about it either, but I suggest getting a free model and digesting it, basically find pieces you don’t understand and search them up and figure out how they work.

I think it will help.