Rough, gesture, or action sketches are usually rendered very quickly, sometimes in less than a minute. The benefits of making rough sketches are in the process, rather than the creation of a magnificent work of art. Hence, you only goal is to capture a mood, expression or gesture on your drawing paper.
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This tutorial contains very useful tips about sketching different poses and figures. It also explains the basic sketching process, and teaches you how to examine sketches and choose models.