I've had some success with most all the animation formats that Blender exports and Irrlicht accepts. My favorite has been .x
First, make sure you have the latest version of Blender, because I remember awhile back the bundled .x exporter didn't work very well, but the newer ones do.
http://www.blender.org/download/get-blender/
I found a small list of checks you can look at if you want.
1. To "attatch" the bones to the mesh, they must be the parent of the mesh.
2. All bones must have a parent bone, except of course for the "master" bone.
3. You MUST apply scale and rotation (Ctrl-A) to both the mesh AND the armature object before export.
4. .x does NOT support vertex animations (.md2 works well for that)
5. All animations MUST be baked before export, or your animations will not look like you expect.
6. All character actions must be recorded in the same Blender action (I can't seem to get multiple Blender actions to export to the same x file)
7. Remember to rewind to frame 1 before export.
8. I have to uncheck "Flip z" , and export as if exporting to a right-handed system. If not, my mesh appears inside out. (regardless of normals vector)
9. I do not recommend using "swap zy" button or even rotating in Blender at all. This can cause your recorded animations to go all weird (bones think they are moving forward when they are actually moving upward!) I just rotate in my code.
Im sure there is more I left out, but maybe this will help. I remember the frustration I had when first trying to to get .x files from Blender to Irrlicht.
Recently.....
I found a finished .b3d export script !
http://gandaldf.altervista.org/b3dexporter.htm
I've only tried it once, so I don't have any tips or anything, but it worked first try, and it was really simple, so this may be my new favorite
Edit: I forgot to say, the .x exporter will export everything to 0,0,0. You have to position it in you code, or in some level editor, or whatever.