Was Bogatyr a legendary medieval hero of Russia?”
Bogatyr means sort of “a very big, strong man” in a very positive meaning. The most famous Bogatyries in Russia were: Ilia Muromets, Dobrina Nikitich, Aliosha Popovich and yes there are legends associated to their deeds (exploits). In a way Bogatyrs are similar to “Heroes” in legends of Ancient Greeks and probably describe premediaval rather than mediaval times. Also note, that the capital in those legends is Kiev, which is Ukraine, but not Russia.