Hi! This is a model I made and the articulations on it limit me to have a simple rig. I have been trying for days to rig this properly, but I never get there. I’ve tried a couple of things, I got good results but only for certain poses, I had lots of limits. Please help me figure it out this rig!!!
I just need the foot to stay still when I move the root, just like a human rig.
Did you limit your bones rotation axis to match the mechanical limits of your legs? Did you set your bones pivot points to your geometries pivot points?
If your answers are no, then get that fxed first 
If your answers are yes, then you just need to set up IK chains to have a controller for your hips and a controller for your foot. If you don´t know how this is done, then check out:
http://www.rigging101.com/freestuff.htm
Have fun
Chris
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