The thing you need is called "Inverse Kinematics" – often shortened to IK.
There are A LOT of videos on that topic, e.g. this one: =link=
Now - when you know what you need - just watch related videos.
UPD:
You can enable/disable IK during the animation.
In Pose Mode in the [Bone Constraints] tab you can edit IK's Influence:
![enter image description here](https://cdn.statically.io/img/i.sstatic.net/JAmT092C.png)
Influence is 0
– IK disabled
Influence is 1
– IK enabled
You can animate this value:
- Uncheck
Only Show Selected
(to see keyframes related to Influence
)
![enter image description here](https://cdn.statically.io/img/i.sstatic.net/mL79cgGD.png)
- Switch to the first frame of your animation (
Shift
+←
):
- Since you want IK disabled at first – set
Influence
to 0
and while hovering mouse cursor over that 0
– press I
(this will create a keyframe for 0
value)
- Then go to the frame, where IK should be switched
- Set
Influence
to 1
and while hovering mouse cursor over that 1
– press I
(this will create a keyframe for 1
value)
- Now to make the switching instant – select all keyframes related to
Influence
, then RightMouseClick > Interpolation Mode > Constant :
![enter image description here](https://cdn.statically.io/img/i.sstatic.net/Ddh0wTs4.png)
That's it.
By the way, you can switch IK not only once, but as many times as you want *by changing IK Influence from 0
to 1
and back from 1
to 0
.