This probably depends on your expectation of “possible”.
Cheetah3D seems built to be primarily an ANIMATION program. As in other animation programs like Maya, modo, Lightwave, Messiah, etc one of its included components let you rig your model with imaginary bones – often with defined constraints on how far something can twist or bend. The model deforms its mesh in those areas. The end-product to most animation programs are media for visual consumption.
In another part of the spectrum are solid parametric modelers like Autodesk Inventor or SolidWorks. These treat your model as if it were solid in the virtual world. Objects collide with one another and can be defined by constraints but not the type of imaginary bones you get in an animation program. This allows engineers to create hinges and gears and levers that operate and interact in the software like it would in real life. There would be an opportunity here to create a character that has the old-school articulated joints like an old GI Joe doll – This is because the end-product to most solid modelers are object files intended for real-world manufacturing.
Rhino has a narrower focus on being a strong, general modeling program. It has IMO the best range of direct tools to let you define the precise shape of a model. This level of precision lends itself well to most manufacturing industries where a standalone part is needed. Rhino objects are allowed to overlap one another in space. Rhnio for Windows has an architecture that welcomes plug-ins. SpaceClaim is one such plug-in that seems to offer some level of solid modeling. To my knowledge, no one makes a plug-in that rigs Rhino models. That wouldn’t prevent you from exporting a Rhino model into an animation program for rigging.
One of the approaches that answers your original question would be to model a figure with intentionally separate segments (head, neck, torso, limbs, etc) All these parts would overlap one another. Model it such that there’s an actual Point Object positioned at every pivot juncture. With the help of the Point Object-Snap, you’ll be able to select multiple segments and swing it by the point pivot. Once the character is positioned using this kludgy method, the segments can all be booleaned together. This of course leads to compromises whether using this posed model for visual or manufacturing.