The classic approaching to do one animation is this: draw poses (raster), import poses animation into Synfig, trace one pose, match the other poses by tweening the shapes in animation mode.
The walk cycle tutorial is one example of this:
http://wiki.synfig.org/wiki/Walk_CycleAnother example made with the same approaching:
viewtopic.php?p=6816#p6816-G
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