-----Basic-Skeletons
Overview
This explains how to set up axes and groups to aid character animation
Three ideas are proposed: Use a base axis, Separate 'Legs' from 'Torso' and Use a Core Skeleton.
Note: Always make a skeleton before mirrorring to cut down on your workload.
Technique Instructions
We will look at the robot skeleton:
Use a base axis
The yellow axis between his feet is the parent axis of all the other objects.
This is useful for manipulating the whole object separate of it's internal parts.
Separate 'Legs' from 'Torso'
The yellow axis is grouped to the hips axis (NOT an object - just an axis)
The hips axis is connected to the torso object and the leg objects.
This allows the Torso (and upper-body) to be manipulated separately from the legs - trust me, its a good idea.
Use a Core Skeleton
The rest of the grouping is done with the core skeleton technique.
The coloured links and white axes make up a core skeleton. These axes are all aligned with the axis at the 'root' end of the object and the z-axis scaled to the length of the object.
All other objects are peripherals and are grouped to the appropriate core skeleton object or axis.
This lets you build a complex object with a simple skeleton.
Personal Preference to Model Manipulation
I do not like inverse kinematics. All my models are posed by using the Pick Groups mode and rotate.
Superfluous Finished Model :)

Templar ConstructionTechnique Reference
Main Pagesketch tutorial