Most humanoids or bio-similar robots today use servos or other drives which are inherently rotational. If I were to try and replicate the properties of such an actuator with a linear actuator operating off-set from the joint, what would be the reasonable comparison metric?
E.g. a servo operating on a 1 m long arm, where the servo is rated to 10 Nm, what would be the experience torque at the end of the arm?
A linear actuator, off-set from the joint by 10 cm, if it were rated to 100 N, should provide 10 Nm at the end of the arm (right?).
I'm sorry for asking these basic questions, I am not a roboticist