Part of learning to rig using bones, dummies, and IK chains. Still need to look at second tutorial for organic rigging and using constraints, to make movement more fluid and organic.
https://www.youtube.com/watch?v=Nj1jVBWZEtI&list=UUYyGNXthGHRoEqHTHYrm2Tg
https://www.youtube.com/watch?v=Nj1jVBWZEtI&list=UUYyGNXthGHRoEqHTHYrm2Tg