The first challenge here is to find the proper joints - they need to be adjustable, made of steel (or maybe brass), and large enough to support the limbs/parts of the creature without slipping under its weight. I couldn't find a joint that would work for this online - not one within my price range, and comprehension. So I've decided to implement techniques used to build small metal armatures, but on a larger scale, and I'm going to make them from scratch. These are ball and socket joints.
I just ordered a box of steel balls from McMaster-Carr. Here's a photo of the joint i'm looking to create, but on a larger scale.

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