This creature uses it's limbs to propell itself (along with its tail). What kind of setup (heirarchy-cally) would I need if I was attempting get the visual of him doing a pushup without his arms geoing below the floor axis.

Note: I am bending his spine so he can reach the ground
Note2:The IK hanldes for the arms (located on wrists) are staying put while I bend the mesh and other joints forward, is there a way to make them stick with their respective joints?

Thanks!