BVH is the closest you can come to getting what you want and there are heaps available online, try TrueBones to begin with.

They need a bit of work, as does everything but far less than manually applying anims.

You need a software app that can generate a biped skeletal structure, the BVH's need this else you may as well go the hard way.

Such apps are expensive like Maya, Max, Modo etc....

As with everything else, there is still a fair bit of work involved in applying and tweaking BVH files.