Is it possible to replace Robotis actuators by cheaper ones?

To complete @oudeyer, we are also interested by the physical human-interaction. For this kind of experiments/applications, smooth motions and compliance are really important. Without them we would not be able to explore interaction and motion as we did during the artist residency.

Also, in the initial design, the arms were actuated with AX-12 motors. Compliance was so bad for interaction (from our point of view) that we decided to replace them by MX-28.

Yet it is possible to replace them by another ones. When you will have few models in mind, we can discuss about their integration and potential limitations.