Note: This is an older tutorial and many features have changed as Character Animator is still in Beta. A more comprehensive and updated tutorial can be found here: https://youtu.be/_smLXODTd6U
Adobe Character Animator has a few helpful tools to animate limbs like arms, legs and tails. Dragger lets you specify areas that you can drag with your mouse (or fingers on a touch-based device). Sticks let you draw lines to create rigid parts of your puppet, similar to a bone. This tutorial teaches you how to add Draggable and Stick handles in the Puppet Panel, and how to record performances with them in the timeline, giving you more control over how your character moves and bends.
Download the free Seth example project and puppet (and a few others) here: http://adobe.ly/297v7Wg
Download a free trial of Adobe After Effects & Character Animator here: http://adobe.com/aftereffects
I work as a designer at Adobe, but thoughts and opinions are my own.