All the InterbotiX robots turrets, arms, and crawlers use DYNAMIXEL servos. These servos all have positional feedback, allowing the ArbotiX-M Robocontroller to read the current position of each servo. This makes it possible to physically pose an InterbotiX robot, then capture the positions for each servo, allowing the user to save/capture the current pose. By capturing multiple poses, a user can create a sequence that can be repeated.
This firmware does not use any Inverse Kinematic calculations to position the servos - it simply moves the servos to a pre-set position. Please see the 'Demo' section for your Robot for more information on code examples that us IK engines.