@QShaikh Do you have an idea of your overall budget? You can use that to estimate a budget per leg, and then per joint.
Overall budget is 1500£. If i find an actuator which is 100£ each that would be ideal.
Can only think that a linear actuator might have the force needed to support ~100Kg.
https://www.robotshop.com/en/actuators.html
Finding a rotary actuator which can provide the torque needed to support a 100Kg robot… have never known of any.
You might really want to scale back the project to a robot which can support ~1Kg rather than 100Kg.