Use the Hierarchy Editor palette to create inverse kinematics (IK) chains. Select the IK Chains node near the bottom of the list to activate the Create IK Chain button. Clicking this button prompts you to enter a name for a new IK chain. After creating the chain, add links to it by dragging body parts from the list above and dropping them into the named IK chain. Links are dropped at the bottom; the last link added acts as the goal (end) of the chain.