Many excellent online resources are available on the subject of gesture drawing. Several are presented below. Be aware that the tutorial authors below have their own approaches and "rules." We are more interested in the various objectives of gesture drawing discussed in class than in formalizing guidelines, namely: warming up, establishing sympathy with the subject, capturing the internal movements and tensions of the subject, and/or laying out a composition.
Note that each of these tutorials focuses on gesture and the figure. As we know from our work in class, the same principles and benefits can be seen in still life, landscape, and other subject-matter categories.
The 7 L's of Gesture Drawing
A Guide to Gesture Drawing
Gesture Drawing with Chris Warner
How to Draw Gesture
Q&A - Gesture vs Contour and Scribbly Lines
Q&A 2 - Gesture vs Proportion and Time