The trick to it is to export from AC3D as an obj, then click the "Spawn Props" button in Poser after you import your obj. It's helpful if you use Poser's standard naming convention, because then you don't have to do any setup to get things working with the walk tool, etc.
Here's a complete tutorial. It's for DAZ, but the steps are the same for AC3D except that your groups should already be setup:
http://www.daz3d.com/i.x/tutorial/tu...torial?id=1191