I'm working on procedural animation for a robot-walking character in Unity. Currently, I'm using a Chain IK constraint for movement of the leg because the leg has three joints. I set the position of each foot with a Raycast, Lerp, and Sin wave as they do in this tutorial. However, the walking animation barely moves the first joints at all and it feels like the last joint is moved an inordinate amount. It makes the walking look strange.
I would like an effect similar to the "pole target" that I used when modeling and rigging this character in blender, or some equivalent that would provide these legs with a better looking range of motion.
A gif demonstrating the problem in unity
https://i.imgur.com/PmGhWxb.gifv
A gif demonstrating how it looked in blender https://i.imgur.com/hY2YAoC.gifv
