With few clicks in Blender 3D now you can
The software is free and available for download.
Models include a standard skeleton and a well tested rigging, developed in order to match most of external applications and motion capture files. The lab provides a library of poses for a one-click pose. Version 1.6 also includes a versatile muscle system designed with the standard Blender bending bones, so that finalized characters can work even without the lab. Also version 1.6.0 provides the Inverse Kinematic controllers for the base skeleton.