How to control joints in animated skeleton

Hi all, I would like to ask you to help me find direction how to make this thing:

My goal is to control joints in animated skeleton.

I did a simple pic to describe it better. Simple skeleton where part is moved by animation and part moved by player. I expect the motion on rest joints will be done by IK.

I would expect that i will just attach joint to object and for the rest joints I will assign animationClip and it should work. Actually the way how ragdoll works.

Thank you

http://forum.unity3d.com/threads/102765-Free-Inverse-Kinematics-script!

This might help:

thanx guys, i will check it out. thanks again