I was unsure what you meant by limbless, I was thinking of something like a snake, worm, ameoba or something else with no arms or legs. Which is why I advised against biped.
But this has arms and feet, they are just not fixed to the body, that's why we need to see the character to know what to do.
For this you can use biped if you like. The tutorials show how to scale the bones to fit a mesh.
As Jona Vark says, you may be able to just attach the limb parts to the bones if they are not to deform. for example just link to feet to the foot bones. If the arms need to bend at the elbow, you must skin them to the bones, otherwise just link them.