Closeup of Spline:
Showing IK Helper Joints for the Hind Legs (plus Flex input):
It didn't want to show up on this particular save of my model, but for both the hind legs there are two joint chains with the exact same configuration except one has two IK handles for each joint and one has only a single IK handle that spans both joints. To make the most of the different movements from each I created a parent constraint on the main joint chain. This worked is receiving a large range of movement in the knee and ankle but I still needed a little more. My next step was to create an offset of the shin and thigh IK handles and attached the X-rotation of these to a flex input I added to the Leg controller (shown in channel box to the right).
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