Additional question:
Does the pole target of an IK Solver work properly for anyone?
@ ventilator:
Just had a fifth or sixth look at your tutorial, and saw that you didn't use any pole target for the knees. Instead of that you used a second IK Solver for the upper leg bone. That works properly!
So, after such a long time, thank you for your blender animation tutorial, again! (Beside all the other great additions you gave to our Acknex experiences!

)