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For that project, I have tested both PLA and ABS. But it is hard to tell which I prefer more.
PLA would provide a precision dimension of the print outcome, which is essential for mechanical parts to fit without too much post process. It is also strong enough when printed with a high percentage of infill. However, it isn't flexible enough, and for parts that require high friction, it would be easier to break when compared with ABS.
ABS, on the other hand, has a much better mechanical nature. It is robust while also has excellent flexibility for handling crushes and torsion. For designs that require high friction or flexibility ( like ratchet wheels), ABS would be a better choice. However, the print shrinkage is a pain in the butt unless you are very familiar with the material shrinkage and able to compensate it before print ( like increase scale by 2~8%). And parts with different size also trends have slight different shrinkage, which is a great pain for assembling. The environmental temperature change can also affect print precision, even print in a well-insulated chamber with a good quality heat bed, it is still possible to get parts warp, especially for big parts that require overnight print. But maybe because my printer was suck ( I was using Robox for ABS, since that is the only unit I have got with a decent chamber. )
From my personal experience, if you can, better stay with PLA or PLA+, since you get most features in the bucket. For this kind of project, most of the material shortcomings can be compensated by designs.
For the skeleton design, the size would make a big difference. The short answer is you will need to consider use screws to assemble parts. Weight with lever will change heave tax on joints. At 1/4 to 1/3 scale, you will need to use m3 screws and nuts to hold up everything in place without floppiness. If you have got a DD or OB 50 or OB 60 doll, you will find fundamentally, most of these dolls design are relatively simple, they are all using friction joints and use screws to crank up the friction. If one screw isn't enough, then use two or more. The real challenge would be how to make a strong joint while not too ugly, IMO.
Hopefully, I have answered your question. Good luck with your design. I am looking forward to seeing it.