To control the heel, we want to do very much the same thing.  However, we don't want to have to move two targets (foot and heel) every time we want to move the foot.  Instead, it would be nice if moving the foot target would also move the heel target.

Of course, this is simplicity itself:  we'll just make the heel target a child of the foot target.  When the foot moves, the heel will move with it, but we will also have an opportunity to move the heel
independently.

Go into the modelling window.  Click on the Right Foot Target.  Go to a side view.  Click 'A' and drag from the juncture of the heel backwards a little bit.  Name this new bone 'Right Heel Target'.

Go back to the Pose.  Click on the Right Calf bone, and create a new Kinematic Constraint.  Select the Right Heel Target in the constraint's property dialog.  Select the Right calf bone and click 'J' to hide it.



Again, make a new action to try out your pose.  Moving the heel target back and forth, you should have a much better feeling of control of the foot.  However, you may get instances in which the kneecap moves in ways that you don't want.  One last set of controls will get that unruly limb properly restrained.



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