I've wrapped up my own version of the FABRIK inverse kinematics algorithm into a system that helps me build stories.  You can see a screen shot of some posed characters with it below for a test page with some test characters.

The boobs physics have also been greatly enhanced with my own custom algorithms which makes them jiggle more like real fat with hint of cartoonishnes, all optimized to run super smooth even if you don't have a fancy computer (I have cheap laptop).  I'm also still refining the style of the characters, experimenting with elements from both eastern and western anime.