Dynamic / Procedural animations?

Hi guys,

I’m a complete newb to anything aside from building environments in UE4 so apologies from the off;

I’ve got a rudimentary rigged character which I would like to be animated in engine since I’m no good at rigging in 3rd party software…
The character in question is a body and head with floating feet and hands.
Would it be possible for the feet / hands to dynamically animate using a blueprint or something similar? Say as the body floats around, the feet just flail around as if walking?