Can a mesh be attached to a single bone in an armature

A couple years ago I used Anim8or, but I’ve upgraded computers, and it won’t work on Vista or 7, so I want to switch to Blender. This is a link to an Anim8or tutorial that showed the simplest walking creature, in it they use a mesh cylinder for each part of the legs, and a sphere to cover the joint. I want to make a similar character in blender, with slightly more complex meshes. I haven’t found a tutorial that doesn’t include weight painting a single mesh, so I hope that someone here can enlighten me on the way to do this in Blender

The same as in this example ?

yes… exactly like that, thanks