Should I Rig a Robot?

I made a humanoid robot and want it to behave more or less like a person in Unity. It should be rigid though. Should I rig it, or animate it in some other way? This is a learning experience for me, I've never animated or rigged before. I think my main concern is that each joint on the robot should be one dimensional, there are no ball and socket joints like a human shoulder or hip. All joints are either hinges or rotators.

Oh, I'm using Blender, BTW.

Here's the robot as he is currently (don't judge the model, I'm just getting started):

 

Well, I found this: http://cgcookie.com/blender/2011/06/20/rigging-a-piston-in-blender-2-5/

I'll try it.