“The Border Ballads, for instance, and the Robin Hood Ballads, clearly suppose a state of society which is nothing but a very circumscribed and not very important heroic age.”
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There is only one thing which can master the perplexed stuff of epic material into unity and that is, an ability to see in particular human experience some significant symbolism of man's general destiny.
But the development of human society does not go straight forward and the epic process will therefore be a recurring process, the series a recurring series - though not in exact repetition.
The reason can only be this: heroic poetry depends on an heroic age, and an age is heroic because of what it is, not because of what it does.
With several different kinds of poetry to choose from, a man would decide that he would like best to be an epic poet, and he would set out, in conscious determination, on an epic poem.