I tried to make a rag-doll type thingy to test my skills, which aren't very good. but the rag-doll character 'spazzed out' and I can't see why! Here is a download link for the .cap, can you see what's wrong?
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you should try using hinges. here's an example i made some time ago.
http://www.scirra.com/forum/ragdoll-example_topic44021.html?KW=
the list of actions can look pretty intimidating,but you should start simple. connect two pieces,then make a joint, fool around, connect more pieces and so on..