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Unity Procedural animation

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I'm developing a game using the free version of the NeoAxis game engine. It has no procedural animation library nor algorithm included and it doesn't do IK. I need some sort of procedural animation to be combined with keyframe animation. It will be used to, for example, modify a reaching and grasping animation, in order to adapt a keyframe animation to the virtual environment. This result is reached combining collision detection, IK and a method to mix keyframe and procedural control on the skeletal structures of the characters in the game. I have found some scientific papers and some articles on Gamasutra about it, but I'm wondering if there is some algorithm or free library that is already known to be good and used by the community.

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http://aigamedev.com/ did an article on a framework for just that a couple weeks ago; their site is down as of this posting, but will be back within hours.

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