A gesture drawing is a laying in of the action, form, and pose of a model/figure. Typical situations involve an artist drawing a series of poses taken by a model in a short amount of time, often as little as 10 seconds, or as long as 5 minutes.
This is my Mentors line of action.
My Mentor suggests that I really push the angles to exaggerate the pose. The two standing figures probably have a sway in their back, starting at the head and doing an s-curve to the pelvis. She drew a quick example over the figure on the lower left to show how I can push and exaggerate, but still capture the pose. She suggested that exaggeration and movement will help my figures look less stiff.