IK Solver constraint making editing easy, exporting hard

I have a human that I’m rigging to export into another program. This program divides the armature IPO curves into animations by being given a range of frames. So, for example, the idle animation would be frames 1-25, and walking would be 26-46 and so on.

I’m using IK solver constraints on the wrist and ankle bones. This works well for getting my model into a pose. For my walking animation I need to record frames where the IK targets will be at different locations during the animation. When I place LocRot or VisualLocRot key frames, with the IK targets at different places in each keyframe, and then play it back the ankles are still pinned to the IK targets at their current locations.

I hope I explained that well enough. How can I fix this?

Edit:
Should I add IPO curves for the IK targets, and then add in keyframes for the armature at the same points as the keyframes for the IK targets?