I'm wondering if someone can help me out here - I'm not sure if I'm misunderstanding bone usage, or if I need a scripting solution. Though I am a total AS noob, yes, I've done the tutorials, and yes I've searched the forums

So, my situation: I've got a character that is a fairly complex 3D robot. I've built him, er, it to have workable joints that for now don't rely on bones. To explain this a bit better, I'll focus on one part of his body so you can understand what I mean:
I have a Group folder called "Upper Body". Contained in that folder are the many things that make up his upper body, including a Group folder called "Right Arm". In that folder is a folder called "Upper Arm", in that, "Fore Arm", in that, "Wrist", in that "Palm" etc, etc. The reason I did it this way is so that when I move his torso, everything that should move when a torso moves, does so automatically. If I bend his elbow, everything that comes after it on the arm automatically follows as it should. This essentially creates a parent-child thing going on as you would find in Poser.
So now that I'm nearly done, I want to add a bone layer too, but I'm finding that it isn't working well. Having done the tutorials and gone through the forums, I'm suspecting that this is because bone layers only affect the non-group layers it contains, is that right?
Can someone suggest a way I can easily have 1 skeleton control every part of my robots body without me having to change the folder structure? Like I say, there are some scripts I've been reading about that might do the trick, but I'd love it if an expert could weigh in...
Cheers,
Joel