http://www.animationbuffet.blogspot.com/ And in particular http://www.animationbuffet.blogspot.kr/2010/05/tresher.html That's your best bet for a complicated creature rig that's similar-ish to what you're looking for.
Started working on this piece from Advance Wars. http://images2.wikia.nocookie.net/__cb20081013024452/advancewars/images/0/05/Awds-jugger.jpg Thought it would be fun! Feedbacks are welcome.