The most basic aspects of stance are, fortunately, also the simplest.  Simple, of course, doesn't mean easy.  Keeping these two concepts in mind throughout all of your animations will prove very difficult indeed, but also very helpful.

The first thing to do to insure that a character looks real is to break every appearance of symmetry that you can manage.  Yes, in a perfect world, action would be symmetric and perfectly balanced.  But a perfect world is precisely what we're trying to avoid animating.

A character that is posed symmetrically looks rigid and mechanical.  This might be good for certain characters, but for most characters, even robots, you want a more fluid appearance.



If some of the character is non-symmetrical, but there are small areas of symmetry, such as the hands being in the same position, then those areas will look locally mechanical, giving a slightly rigid appearance to the model as a whole.



 
Good
Bad
Hands
Feet
Head
To avoid symmetry, it helps to know where it hides.  Hands and feet are a major source of problems.  A too-perfect arrangement of the hips or shoulders, or a head facing directly and levelly into the camera, can also cause problems.  By looking over these aspects at each major pose of your animations, you can avoid accidentally falling into the trap of symmetry.
 

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