you can use basic IK's - premade skeletons - basic weighting - etc...
its really a kiddie jump above Milkshapes animation abilities.
and to be honest it is alot more confusing and harder than it should be for what it can actually do.
I'd suggest just learning a little animation skill within Milkshape.
it might be slightly harder at first, but the lessons you learn having to do practically everything yourself actually gives you an brand new look on animating models.
also i'd suggest if you have the money to get Animation:Master ... its like $99 but is a very good product, that allows you to work in a non-linear form, full IK & FK, full bone<->vertex weighting and envelopes.
It's realatively simple to use to boot
but still try animating in Milkshape for like a month or two, even if you don't think you've improved i can guarentee you that it'll give you alot of experience and make animaiton in other products seems just childsplay.