I recently have looked through Exploring Drawing for Animation by Hedgpeth, K and Missal, S.
This book is based on drawing skills in the animation field. Though it is founded on 2D animation, i felt that it still had relevant information for me. The authors push the ideals: that drawing skills, are highly sought after and will help you move higher in the chain of business; understanding the body's anatomy (human or animal) makes your characters more convincing in their mechanical aesthetics.
A simple exercise that the authors use is The Wandering Pencil. It is an effective tool for brainstorming. All you have to do is draw a series of scribbles, and find a character in there. I tried this myself a few times, and here are the results:
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