I have been working on rigging some lately. I did a test with Willy making him controlled by an ik solver attached to an empty. Here is a video of the results. This is only the first rig test, right now it has only one controller on top of it's head. I plan on adding 2 more controllers making the movements a lot smoother. (And if your wondering why there are stars... well they were an easy visual reference point for when he flips :) .