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I have never really done any figure rigging (outside effects props.. simply for ease of use to end users), but can't rigging be simply done in Poser with a donor figure? I mean, I realize that tweaking would certainly be necessary, but I think you can borrow a skellie from a similar figure as to your own creation (bi-ped, quadraped, etc) and apply it. Maybe I stand to be corrected, but I think it can be done this way. But that's Poser. I don't know if the rigging can then be exported outside Poser for other apps without a 3rd party app. Figure/character rigging is certainly not my area of expertise ;o)

You can borrow the skeleton to save the time of naming and placing the bones, but you will still have to deal with the grouping of the mesh and then setting up the joint parameters to deal with differences in propotion etc.  And when you are done you still have a figure with all of the limitations of Poser.  But, you are right that it can be done.  Maybe they should improve set-up then, by making it easier to adapt the skeleton to different meshes, and then later they could add deformers and what not to the rig itself...

And it only works for parts of the figure controlled by bones, meaning faces and such still need to be set-up from scratch.