I built these RPG characters for a voxel-style Final Fantasy Tactics -esque project (currently called Dezras Dragons in my head!) I slowly, occasionally make progress on. I used the software VoxelShop (https://blackflux.com/node/11, free as in beer) though I can potentially export the files into alternative formats.

There is one file for female characters and one for male characters, complete with body parts, hair, clothing, and armor options. VoxelShop can export the models into the COLLADA format (.dae), which the newest versions of Blender can import (newer than what is included in the Ubuntu repository). I put together a very basic rigging which covers the arms, legs, and torso, though I know nothing about Blender and you are probably better off redoing it on your own.

This set is easily customizable and extendable to create new characters off of the base options provided, even for people like me with virtually NO 3D modeling skills! The preview shows a few example characters which can be easily created from the included components, as well as a preview of the rigging and a sample frame of what a run animation might look like (I have not created full animations for the rigging though).