I've been making action figures lately (see http://tekeian.posterous.com/pages/action-figures). Here is a version for Thingiverse.
I've printed 80 action figures of various designs. One of the goals is a quick finish and assembly time. Only a flat file and an X-Acto knife are needed for raft trimming, then glue it up.
The arms can be articulated by gluing some filament to each arm and running them through the hole in the body.
The hands (or claws) can hold objects with a ~3mm edge.
Except for the helmet and lightning bolts, all the parts are printed with a raft. The robot body, seen in the parts image, has already been trimmed. The legs can be printed without a raft, but, the permitter of the foot may come out ragged. If you use the HBP, I suspect you can print the limbs without a raft.
I used a ToM with ABP and Print-o-matic turned on in RepG. Every few action figures, I lightly sand the belt. The rafts are essential once your ABP belt starts to curl at the edges.