(NOTE: This was actually created back in February, I just haven't had a chance to upload it to Vimeo yet)
I've been prototyping a style of folding robotic leg that I'm going to expand and refine soon. Messing around with it gave me a chance to revisit IK handle with end pivots, rotational pole vectors, more detailed IK/FK switches and also mess around with aim constraints for the hinges and pistons. Looking forward to producing a more comprehensive model to work with next time (This one was made very quickly, so excuse the shitty geometry and design)
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