[JesseK]

Eh, I'd like some sort of constraint on CIMs, just so we don't have 8-motor drive trains that ram into everything in sight or are nearly impossible to get out of the way of. The CIM takes the cake for 'epic' for their robustness.

I like the motors that spin slowly enough out of the box that I don't NEED to gear it down 1000:1 using a $200+ COTS gearbox or multiple sprocket reductions -- the denso's and the globes were PERFECT for that. Need a wrist joint? Just add 1 sprocket reduction after the motor output. To me, it's more of a challenge to figure out how to do things with less available power than it is to use less power via software.