If you’re trying to do actions that are already available from the Robo-Skeleton templates, then things would be easier. You can just reuse the templates (like walking) and fit in your own characters. This is described in detail in the User Guide under Robo-Skeleton Templates.
You can also create your own custom actions, save them in your library, and reuse the templates as many times with as many different characters so that they move in synchronicity. I’ve been experimenting along those lines but with very simple poses/actions and basic shapes. I find that it’s cool to be able to reuse the rigs+actions and swap the skin layers.