I've got joints at the hips, knees, ankles, balls of feet, toe areas. I've got an IK handle at the ankle connecting it to the hip. So it looks nice when I lift the leg and bring it down. Except that the hip does not respond as it does in real life (due to the way IK works). I have to rotate the hips by hand to make the right response. This makes it difficult. I was wondering if anybody had come up with a good way to automate this response by the hips. So when I lift a leg, pull it forward, then bring it down to contact the ground the hips/pelvis make the appropriate shift/rotate.

Thanks.