"I am using a 9.6 V battery rather that the 12V maximum rating of the motor so that makes my actual stall torque even lower, right?Other relevant information: the robot currently weighs about 4.5 lbs (2041 g) but I plan on adding an arm and other equipment that should be around 2 pounds for a grand total of 6.5 lbs (2948 g)." . . . .