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I started off with a quick sketch in photoshop. I sketched on the computer first to save on paper. Plus it's so much easier to correct lines. I've only used this technique a few times, however. It's a bit of a pain later to get the finished sketch on paper.

 

I lowered the opacity on the first sketch, and on a new layer did a new one, this with more of Dinobot's details. It's not quite the pose and expression I want though, so I have to do another.

 

 

Another new layer, with the previous sketch on a lowered opacity. Still not quite what I want, but much closer.

 

The final sketch. It's the closest to my original design and I have the details right at this point.

 

Here I've decided on a background for Dinobot, and I've added some text as well as a light effect on his eye.