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NekoMida

Some of the sculptors I've seen use round wooden beads as a way to help with the joints and motion. It's really just dependent on how you want your joints to function--there are peanut joints and ball joints on most dolls.

A really quick google search on 'sculpting BJD joints' should point you in the right direction as far as shapes and sculpting tips, and a basic diagram of how those joints work in tandem with the rest of the body. You might also look at old porcelain ball-jointed dolls to get a better idea of how they work.

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NekoMida

Ball joints are probably easier for a beginner, since peanuts let your mileage vary as far as motion/evenness on the sculpting. Wooden beads are at least fairly consistent with sizing and I think would do better for a beginner. Usually it's personal preference but peanuts are a lot harder to make even than ball joints themselves.

BJD's are very personal when you're sculpting one, and if you're confident in your abilities I would experiment. You might also look up restringing videos to see how those joints fit together.