I'd be conscious about the LIPO battery choice & potential fire risk. They're absolutely fine when treated with care (i've had many for years for RC planes & helis and never had more than minor issues), but i'd be concerned people are used to not having to care about their batteries. If you discharge them below ~ 1.1v per cell (higher for cheaper ones) they don't quite explode but it's not a slow burn either: http://…
You'll see a lot of roboticists using these already (for safety reasons). For example, you can grab some nice Turnigy LiFePO4's at most hobby shops.