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Having said that, I should mention that I might not be the best person to ask about this specific problem since I don't typically do complex bone rigging for animations, but essentially you'll want to look into weight-paint mode for rigging models. It's a huge learning process in itself, and you should look into rigging if you want to learn animations.
This video should describe the basic process, but again it's something you have to learn over time: https://www.youtube.com/watch?v=S0VS0IVylzg