depending on your version of Dark Basic (Standard / Enhanced) and your understanding of certain 3D aspects.
yes it is possible to create a skeletal animation system similar to Half-Life models.
The easiest way is to basically export the bone information, but have it only affect a single limb (using limbed model of-course).
Then you could use that data file as an animation .dat file, this i would suggest you read up on in the manual.
Unfortunately they took this out of Dark Basic Pro which is sad, because it did make things alot simpler in terms of animation for the end-user/developer.
Basically though it is just a list of positions and such for your limbs, that way you can have a single .dat file for each animation you wish to perform.
if i remember correctly what you can also do is specify each limb affected by number, so you can load up 1/2 animations and set the limbs for that frame then move on.
using the Enhanced version of Dark Basic though, you can have fun with Memblock Mesh. it comes out a little slower, but you can effectively make your own skeleton format which you can then use to affect given mesh that way.
if i find the time, i will dig out some old examples i was given by Bryce (a v.old db user) which show how to do both methods effectively. however time for me right now isn't exactly a luxury to waste, so don't hold your breath.