I'm not into C4D anymore, but I would test OBJ first and LightWave second, perhaps in combi with FBX for the pose/animation/rigging.

Note that the poser objects themselves come in OBJ format (in the Geometries folder of your runtime), so exporting them in OBJ might give the least loss "in translation".

From a bit of surfing I understood that Lightwave is some COLLADA derivative, but that might be for later versions only. But Poser exports LW-5 as well as 6 (at least my Pro does; some programs only import LW5 - don't know for C4D).

This tut: http://designertoday.com/Tutorials/Poser/1686/Poser.to.Cinema.Animation.e.Frontier.Poser.and.Cinema.4D.Tutorial.aspx

looks recent enough, and uses OBJ.

have fun

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Usually I'm wrong. But to be effective and efficient, I don't need to be correct or accurate.

visit www.aRtBeeWeb.nl (works) or Missing Manuals (tutorials & reviews) - both need an update though