How do i animate a custom character?

So i made a custom character. Its a R15 robot with standart R15 humanoid parts(except more of them). I rigged the character, put it in starter character, but for some reason when i spawn it does this: (that half visible part is humanoidroot part) link

I used RegEdit lite and abosolutely no code. I think i know what may cause this, its either i rigged it wrong or its not animated, but second variant is most likely.

This is robot rig if you need that: link2

You must use Motor6Ds to attach the parts to for animation. There are many rigging plugins out there for it. After you're done attaching with Motor6Ds, you can use any animation plugin to animate it.