How can floating limbs work?

I have an idea for a world where most fauna (and potentially flora) have floating, disembodied limbs that hover in place. Think Rayman, but less uncanny. Instead of using muscles and blood to move their joints, they simply "pivot" their limbs around an axis and get around like that. That way it doesn't use as much energy as a complete limb, let them get through small spaces easier, and leave less area for a predator to grab onto, all while still getting the job done.

I just have no idea how this would work. At all. Ideally, the limbs shouldn't be magical, continue working if something gets in the empty space between the limb and the body, and let them move like regular Earthly creatures (running, jumping, flying if possible), but I'm not sure that leaves much left to work with. Is there any way floating limbs can work?

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How can floating limbs work?

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