In order to build powerful, smooth robots, you will need high performance servos. The IQ Fortiq BLS42 can help. It is built to deliver more torque and speed while minimizing motor vibration and footprint. It has an embedded position sensor with 3 GPIOs. It comes with over-current and over-voltage protection.
You can use these servomotors for robots, 3D printers, CNC machines, and everything in between. They are not loud either.