Nice! There are many more videos of Glenn demonstrating this technique in the Renaissance figure drawing class. I would say, don’t forget to work through all of the steps starting with the gesture (or as Glenn says, “feel the flow”), drawing over the form (using sphere, cylinder, and box), then containing the form. I think with the pen technique this is even more import to try not to copy the outside contour, because as you said there is no option to erase.
Note on materials, if you can manage to get a water soluble ink that might help, because you can first draw the gesture and forms, move to the wash (which “erases” some of the construction lines), then move back to the pen to add in the darker values.
Hope this is slightly helpful!
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