I have a tiny kids toy that we're turning into a robot. It needs steering, but it needs to be overridable by the user. We need to be able and overpower the motor in any needed circumstance. We also don't want cogging of a stepper, we'd prefer it to easily spin when the power is off.

Given all of that, that we might also have huge following or leading errors, what are our best options?Also, are there any servos that I could reprogram the torque level / amps to on the fly? Without powering off, restarting, etc. and/or get torque/amp values as feedback?