I am having a hard time getting the skeleton of the robot to orient to the Ik handles of the reverse foot.
I made the reverse foot just fine, but I can’t get them to line up right.
Everytime I try to connect the foot joints and Ik joints just as it says in the book, the foot joints flip backwards so that his foot looks broken.
Any help would be appreciated.

I’ve included some jpegs that show the joints themselves pre- and post-orient.
And the effect it has with the NURBS surfaces in two other jpegs.

The green bone is the one that flips backwards after the orient, thus causing the foot to turn in on the ankle section of the leg.

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I just went through this myself.  If you haven’t already figured out what to do, you need to enable the maintain offset toggle button in the IK Handle Tool.

Oops, my bad.  I meant to say check the Maintain Offsets in the Constraint Orient setup box.

:red: