alright so maybe I'm not exactly answering the question .....but here's my insight...
I often say I don't want a doormat NO one would want a robot
The reasons I say it may all be just personal reasons. I love good debates ...I LOVE hearing other people's viewpoint. If I had someone constantly agreeing to everything I say and want them to do there's absolutely NO challenge in that. The reason I do actually enjoy being a Dominant is getting people to do things they wouldn't normally ever think of doing but will do it for ME because it pleases me. That simple reason alone. It's the same with a submissive who is absolutely submissive with EVERYONE and will do anything and everyhing he/she is ordered to do. If they followed my orders like they do everyone else ....It certainly wouldn't make me feel special in any way. Nor would be any kind of (sorry for using this word ...I couldn't come up with anything else that might simplify it) Victory. There is no gratification nor satisfaction in a doormat.