One demo, or training file which ships with the Autodesk Maya Handbook I am currently working through highlights how to create IK (Inverse Kinematic). FK (Forward Kinematic) systems are also described and shown. These are the default system in place when a series of joints are made, which features a predictable hierarchy system. The image shows an IK leg, which has had IK/FK selection enabled. This now allows for the IK to be switched off when key-framing a particular series of movements, so that an FK solution can be used. When this occurs, the IK position is highlighted in a different colour and remains visible until it is keyed back into the solution.
The Graph Editor here shows at what point the IK is disabled (shown using dotted lines). This is fairly logical, but it is worth mentioning that for this IK/FK blending to work, both the IK solver and the joints that will be used for the FK solver must have an active key frame (telling the system to leave the IK control as static in the scene). The IK solution can then be keyed back in at a later point and would continue from where the FK is last keyed in. IK/FK is a great solution to issues of restrictive animation controls or motions. It is the best of both worlds.
A video demonstration can be found using this link: LINK
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