Try baking the animation into the joints, Select the parent joint, then go to the Edit Pull down Menu -> Keys -> Bake Simulation. This should work for all your joints, but if not, apply it to al your joints seperately.
This will make in the rigged joint rotations over each frame right into the joints themselfes rather then control objects or IKhandles.
But I recommend reading up on rendering with Maya or at least experiementing with that, I can't think of any good reason to want to render with Cinema 4d when you already have Maya
.