A lot of the people who build the small, indoor robots use servos as motors. You might want to check the robot forums (Lynxmotion, Trossen, Surveyor Corp,...) and some of the off-the-shelf robot platforms that use servos, to get an idea of what servo type drives can and cannot do. Your size seems close to the Hen Long 1:24 scale, and the HL's are a bit on the heavy side for standard servos, I would think.
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