I thought I'd come back with my own closure update to this thread after having found some decent controllers on a budget.
Since my OP I have tried most digital pianos and MIDI controllers on display in shops in Melbourne. I've also read a lot of online reviews/commentary, watched videos --- it's amazing how unreliable they can be sometimes, but worth a look anyway in combination with your own hands-on research. You should assume the same about this post. Do your own research, don't take my word for anything.
As I wrote earlier I ended up buying a Casio PX-160. For the money or less, it's as good as it gets. Feels cheap? Yes, about what you'd expect for the money. Plays well? Yes, a lot more so than you'd expect for the money. The PX-150 is essentially the same keyboard. What first made me sit up and take notice of it was this young gentleman: https://www.youtube.com/user/wobblybob76, who does amazing things with his PX-150 + Pianoteq.
I also recently bought a Studiologic Numa Nero second hand for less money still. (This Nero has none of the glitches that you read about online.) I'm yet to decide which one I prefer. The Nero is much better made (complete with fake "wooden" white keys: Fatar TP/40WOOD action) but the PX is easier to play with faster keys (but after 3 months I'm used to the PX and have not played the Nero enough yet). The Nero does feel closer to playing a grand, but really neither feel anything like an acoustic grand.
The Numa Nero has been superseded by the SL88 Grand with a massive 2- to 3-fold price drop compared with the Nero. So this is another attractive <$US1k piano controller to consider especially for those who like the usually much more expensive Fatar TP40W action.
Kawai and Yamaha at the budget end of things don't deliver. The P45, P95, P115 (with GHS action, a budget version of the GH) are all much worse than my 10+ y.o. P140 (GH action); the Kawai ES100 is worse than my ~15 y.o. budget cabinet upright CN270 (contrary to glowing reviews I've read), which I've since dissected and turned into a stage/portable piano; and neither of those old KBs were all that great. The Yamaha P140 I was initially looking to upgrade from is the best one of this lot; similar to the new P255, which has the same GH action with the addition of ivory/ebony textured keys.
I would have preferred the Roland F-140R to the Casio PX-160 but the Roland was a cabinet-only model and twice the price. Since then Roland came out with the on-paper equivalent FP-30 portable KB. This may be another good budget piano controller option.
So in summary, for those looking to buy a new piano controller on a budget, in early March 2016 I'd recommend Casio PX-160, Roland FP-30, Studiologic SL88 Grand. On a more generous but still sensible budget the Kawai VPC1 + Pianoteq will knock your socks off.
Second hand (used) there are lots more options, too many to list, but the ones that stand out are Kawai ES7 and the top Kawai MP boards (including up to ~10-year-old ones with proper long wooden piano keys). Look for a Casio PX-150 if you only have a few $100.
PS. I've changed my mind on "escapement is a must": it'd be nice to have but even on the best DP's/controllers it's only so-so executed.
Always try before you buy. If you're a beginner, ask/take your piano teacher or someone who plays acoustic pianos.
[edit: F-30 changed to FP-30 on follow-up advice from Fleer, see below.]
Last edited by SteveLy (05-03-2016 12:42)
3/2 = 5