1000kgf-cm is 100Nm which could easily break you, its far far more torque than the human wrist
can handle for instance. Its about what you need to fit an axle nut to a road vehicle. Do you
really know what these torque values mean?
Generally with non-standard applications you need to build your own gearmotor and position
feedback system, or spend money on an industrial servomotor. Noone's going to manufacturer
a vast range of servomechanisms to match every possible robot articulation topology and size,
you either build something from standard parts or pay for bespoke manufacture, which implies
high volume production to be economic.
Simple rough guide to torque:
0.1Nm = forefinger+thumb turning something
1Nm = one hand driving a screwdriver comfortably
10Nm = two hands on a car steering wheel