https://hackaday.com/2017/11/07/open-source-motor-controller-makes-smooth-moves-with-anti-cogging/

https://biorob.epfl.ch/cheetah

https://hackaday.com/2016/02/23/anti-cogging-algorithm-brings-out-the-best-in-your-hobby-brushless-motors/

http://www.rsl.ethz.ch/robots-media/anymal.html

https://hackaday.com/2015/04/20/driving-a-brushless-dc-motor-sloooooooowly/

Well it's brushless motors with awesome controllers or beefy servos at this point.