[LeifCarrotson]

Many robotics applications use ballscrew linear actuators. These contain a cage of ball bearings in a spiral around a ball screw, and they move a given distance for each revolution. You can apply a braking force to the ball screw, which will have a large mechanical advantage over trying to brake against the joint itself.

[grogenaut]

Very true. My cnc uses these. However I couldn't see getting it to walk or hop like these mules. You don't really get impulse with a ballscrew.