DazStudio with Animate+, Puppeteer is also very helpful in DS.

The closest to that is MotionBuilder (Autode$k)

Make sure the Messiah demo works well for you if you go that route.

Sans Animate+, if may be able to get by with BVH files and such, Animeeple comes to mind.

Truebones is a good site for BVH stuff:
http://www.truebones.com/index.htm


-Will