Have you heard of this book?
http://www.amazon.com/Introducing-Character-Animation-Blender-Mullen/dp/0470102608

I don't have it myself, so I don't know if it has exactly what you're looking for, but I have heard good things about it generally.

(btw, I think if you purchase it through blender.org the blender foundation gets money--but on the other hand, it seems to be quite a bit more expensive (about double, I think))