I'm afraid that UV layout is, like modeling, something you have to dig in and do yourself. One great thing though is that you can do the layout on one model, and provided the geometry has the same number of points and so on, you can transfer this UV layout straight onto another model. So what you can do is make a duplicate of your original model and move bits around so that you can much more easily just use cylindrical mapping on various parts such as the legs and arms, and planar mapping on different parts of the face (you can UV map separate bits by just selecting the faces and UV mapping them alone)
So for example if you look at my toon spider WIP
you'll see towards the end that I duplicated the spider, then stretched the legs out to the side. Then I selected each leg and used the cylindrical mapping on it to get the majority of the work done, and then spent a while on each tidying them up. THe back end there was already more or less mapped (it was made from a sphere) and the face and body took longer, as I had to do planar maps on the sides, front, top, bottom, and lips separately, and a cylindrical map on the eye sockets. All in all it took me about 5-6 hours to UV map the whole thing to a level that I'm satisfied with (I'm a newbie, so I'm slow and easily satisfied!)
another good hint while you are doing all of this, is create a few lamberts with plain colours like red blue and green. Then when you select an area to UV map, apply one of those colours so you can check easily that you haven't forgotten to UV map any particular faces.