When I try to animate human figure I'm almost always following some simple rules (they work for me):

• I never make "twist" on the hands - make it on forearm
• never make "side-side" on forearm - use "bend" of forearm and twist of shoulder instead
• never (almost) use "twist" on collar

Each part of the arm has 1 parameter less to animate and it's OK - to many parameters and sometimes things get pretty bad.

For torso I try:
-"twis" starts and ends (not always) on chest, sometimes I twist abdomen
-"side-side" - never (almost never) abdomen

Try avoiding 'xRotating" and/or "zRotating" hip while "yRotation" is applied - if IK on feet is ON you will get something which is REALLY difficult to solve and you can spend hours trying to fix it.

Same thing is with feet (while IK is ON) "bend" will swap with "side-side" while twisted but this is much easer to handle (and you cannot avoid this).

Very often (while IK is ON) the figure legs will twist or bend in very strange manner - at first I corrected this by increasing "yTran" of hip and manipulating "yScale" of shins - later I found out quite easy way - just "bend" / "twist" shins or thighs (personally I always "bend" shin and always "twist" thigh - when you get used to it you will quite fast correct such issues).

If you make keyframes try to make them not one after another - let Poser make interpolation between them - result is much better (of course sometimes you have no other choise:). My way is to make them every 10 frames: 1,11,21,.... After this if I really cannot repair something I add a keyframe in between - and in MOST CASES it's enough (but if you have some reference movie in the background then of course you'll need plenty keyframes - even every 2 frames).

Do not remove each overshoot - you will find them helpful (but you shoudn't leave any overshots on feet otherwise they will "float" on the gound)

Hope you will find something from above useful:)