Crossing legs in blendspace

Hi, there are 8 movement directions in blendspace. If you go from strafe to the right to walk backwards to the right, then where at 50% during the transition the legs cross and this is not jumping, because all animations start with one leg. Sync markers do not help. I heard that such a problem can be somehow solved with the help of IK procedure. I can not find tutorials on this. 
If you know where I can find it, please send me the links.