Is Percy a less admirable hero for never physically taking on his enemies? What is his ultimate goal as the Scarlet Pimpernel?

Part of the allure of this guy is his intelligent and stealth manipulation of people and circumstances. The entire scheme of the plot depends on disguise, as The Scarlet Pimpernel wins not through brawn, but rather through cunning and trickery. It's important to remember that given the political context of the novel, the Pimpernel cannot fight fairly. He will be killed by the guillotine if he is merely arrested. Thus disguise as a way of concealing nobility becomes a crucial theme in the novel -- indeed, the Scarlet Pimpernel takes the disguise of people who would be in the masses, including peasants, old hags, old Jews, etc. in order to save the nobility. He is very much a Robin Hood intent on saving the rich, as bizarre as that sounds.