Dog leg steering is most sensitive and controllable, the geometry is critical, I build mine 2:1, crow foot off left rudder "master" half distance from rudder pivot to link point as the tiller stick pivot to link point, set tiller and rudder at neutral, build drag link, tie rods to "slave" rudder.
Now, what you describe about bicycle pedals, and mentioned and illustrated by slidin is belcrank design, same theory, 2:1 ratio, just much more involved to get it right and comfortable.