Question Struggling to understand where to start with non humanoid IK/procedural animation...

Hello, I cant seem to find any resources on where to start with non humanoid IK/procedural animation... particularly resources that dont require the use of additional assets or packages (would prefer to implement it myself)... also, the platform I'm using requires I use Unity 5.6, so unfortunately a lot of newer assets/resources are incompatible. Any help is appreciated, thanks!

 

Anyone? I'm specifically trying to use IK on a set of a robot legs (a non humanoid animation) but just the legs as they're an separate piece from the rest (like a mech). Not sure where to even begin so any help is appreciated, thanks!