download iExpressions at
https://aescripts.com/iexpressions/
In this tutorial I show you a simple character rig using the inverse kindematics expressions of iExpressions. We animate a robot and instead of animating the rotation of the individual segments of each arms and legs, with the rig you just need to place a null layer where the respective arm or leg should move and the expression knows exactly how to rotate all the joints to reach exactly that point.
