Yes. Either create an animation in a modeller which contains a walk cycle of, say, one second duration, followed by turning to the left (one second) and waving (one second). Then you can
1. Load the model and turn animation off.
2. After 10 seconds, loop the walk animation while moving the node (update the position each time through the render loop).
3. After a further five seconds, execute the head turning animation.
4. After a further one second, loop the hand waving animation.
You can also set this up in code, though, especially for the walk animation, it would be very difficult to do without the feedback from a modelling program (the legs may twist, the feet slide or lose contact with the floor, etc). So it is best to create animations in a modelling program and just cue them in Irrlicht.