it should be able to work if you set up the joints correctly, ODE performs very well if you set it up right, as for telling you how to set i up, i cant at the moment... just read up on 'joints'

team INOV:
CURRENT PROJECTS: http://www.youtube.com/user/teamINOV?feature=mhee
FOLLOW US on twitter: http://twitter.com/team_iNoV
check our blog: http://scionwars.blog.com/
shaders: http://shadec.project-havoc.com/
networking: http://www.anet-plugin.com/