[nuttle]

This does a great job of answering the original question, thanks for doing this!

If people have data from real robots and can fit the plot to match this data by adjusting the constants, it would be very good to share the values for different robots -- this would allow the gear ratio(s) to be engineered so a robot will perform as desired, using values that at least were realistic for another machine. It also provides another way to compare drivetrains.