
There’s also a section in this chapter in Drawing Words & Writing Pictures which offers advice on devising figures. I’ve long used what the authors Abel and Madden refer to as figurettes to set a scene, drawing rough figures, similar to a wooden lay figure, consisting of ovals and sausage-shapes to work out action poses.
They ask you to try the technique on figures standing, walking . . .
. . . running and kneeling.

As I was saying the other day, this way of a constructing a drawing is the opposite of the process that I’m familiar with in my sketchbook work where careful observation of a figure, animal or building should result in the underlying structure looking convincing.

