[adammck]

Dynamixel servos are expensive for sure, but there are a couple of low-end models which are pretty reasonably priced given their (excellent, as you note) capabilities. The XL-320[1] is only $22. They're puny, but I've had fun with them.

[1] http://www.trossenrobotics.com/dynamixel-xl-320-robot-actuat...