So is the difference between 400 watts and 100 watts significant?
The difference is 300 watts -- that's a serious amount of power!
You don't seem to have much of a feel for what these numbers mean, so to put it in perspective, here's something that dissipates 500 watts:
http://www.goldair.co.nz/product-catalogue/heating/panel-heaters/gph150-500w-mechanical-panel-heaterAnd you're thinking of wasting this kind of power for
each axis of your robot. If your robot has 3 axes, that's getting on for 1000W -- enough to heat your living room in winter!
Do you see how impractical the idea is now?
As you've found, transistors are cheap. 300W power resistors, by comparison, are not cheap -- Mouser is listing them for around $30 each, and that doesn't include all the heatsinks, fans etc. you would need to get rid of the waste heat.
Just use a 4-transistor H-bridge, or a chip made for the purpose. It's the only sane thing to do.