I Have trouble understanding what makes the character animate, like walking. I'm not talking about using animations, I don't want that, I want to learn the usage of motors.
My goal right now is how to make arms swing when the player is walking. Thank you.
Okay so, for all Animations to work, you need a Motor6D on all moving parts, and either the model to have a Humanoid with an Animator in it, or an AnimationController http://wiki.roblox.com/index.php?title=API:Class/Animator http://wiki.roblox.com/index.php?title=API:Class/AnimationController
Since what you have is a character, the best option is a Humanoid with an Animator. Now, to rig it, the best option is to use the customcharactercreator plugin, and connect all the parts to the torso using the Bind function, and then edit it with the Edit function. https://www.roblox.com/library/171922549/Character-Creator-BETA and the wiki on how to use it http://wiki.roblox.com/index.php?title=User:Nelson/Custom_Character_Creator
Motor6D's are very similar to welds, but they have more function, like an animation. They need a Part0 and a Part1. The Part0 is the base part, or the beginning joint, and then Part1 is the moving part. http://wiki.roblox.com/index.php?title=API:Class/Motor6D
If you have any other questions, you can either DM on the Roblox Site or on Discord @ Kiyo#3999, I don't check this site very often