Move a specific part of a ragdoll, and the rest of the body follow.

I have a ragdoll, but when it moves it crawls like a reptile, and acts like a ragdoll off course, but with movement. How can I move only one part (rigidbody) of the ragdoll and make the rest follow it? I have this section of the script: ragdoll = transform.FindChild("Armature") as Transform; rb = ragdoll.GetComponentInChildren(typeof(Rigidbody)) as Rigidbody; TP_Controller.rb.velocity = MoveVector; Here is a video of the problem: https://www.youtube.com/watch?v=xxWD_9d0Jnc