ok, so if I use the IK-only, can I bent the human-robot like he is picking up something from the floor? My main problem is the feet, they are not fix on the floor so if I want to bent him, I need to bent the upper legs, lower legs, feet and move the whole figure down and try to match the position of the feet where they were before and right on the floor again, and as you see it is too long and I think it is not the right way to do it.
Hope it was clear, sorry to be a pain and thank you so mauch for all your answers.