http://www.insanesoftware.de/index.php?page=home.phpThis was a shareware program, and I have purchased it a while ago in 2004. Now its totally free of charge to use it how ever you want. I have to say this program is very powerful for how small it is and what it can do. It allows you to make bone structures for your characters and objects. You can name the joints, animate, and export your models. It supports a ton of models and there is no royal tee fees or anything.
It was a part of real game tools which has gone out of business a bit a go for you who don't know (Dark Basic) was there creation. IT was bundled in with there tools. But you can use it with any 3D model and animate what ever you want with it.
So if any one wants a once commercial product for free i recommend getting it, it is very handy.