I had a look at mixamo.com today, and it turns out they have an "auto rigging" algorithm that literally, rigs your character for you, all you do is upload a .fbx of your bipedal mesh, line up a few markers to give the rig somewhere to start, and it rigs it for you, it does a pretty good job considering it's done in a few minutes.
I downloaded a maya control script so you can do your own animations for it, because that's currently mixamos business model - selling animations for the rigs, some of the animations are really nice, but pretty expensive.
Quick test pose...


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