How can I use a joystick for a mobile app to control specific limbs of a character?

Hey guys,

Does anybody know how I can use a touchscreen joystick to control specific elements of the character? For example, left joystick controls left leg and right joystick controls the movement of the right leg and so on. Can I use the built in Character Controller to accomplish that??
I already have the animation done and split into different animation clips ( in one clip left leg moves and another animation clip, right leg moves)

Does anybody have any insight about this or can point me to a tutorial where they go through that.

Thanks in advance!