I have a few examples if you want, but just looking at your code, I would strongly recommend you use velocity or even position to move the limbs rather than Motor. If you really want to keep the physics realistic, then at least use Impulse instead of Motor. In any case, Motor isn’t very good for stuff that needs to move quickly and accurately (like IK limbs).
As well, while using a bunch of Logic Gates might be the most intuitive way to accomplish the behaviors you want, it can really mess up the timing of your logic (you get lots of stuff that’s 1 or 2 frames ahead or behind of when it should be activating).
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