Is there a way to use physics to keep a character from clipping through itself during an animation?

I have 5 characters, all using the same rig but are proportioned slightly different from each other (hips are wider for example). I am animating one of those characters and using the mecanim system to retarget to the other four characters. On some of those animations some of the other characters clip through themselves. What I am wondering (and hoping) is if I can use physics and collision to keep that from happening, or do I have to make special animations. I am open to any suggestions.

I appreciate your help in advance.

• Z