I saw a video on "rump" kernels awhile back. I also heard that Andrew Tanenbaum ported/is porting Minix to NetBSD. NetBSD has an "anykernel" approach which separates the kernel for the drivers. So you can impose your own flavour of kernel on a bunch of pre-written drivers.
This struck me as a potentially mind-blowing win for NetBSD. Why isn't every RTOS, embedded system OS, toy OS,experimental OS etc. based on NetBSD? I don't know the reason for this. Maybe it's part NIH, part open secret that nobody's heard about, and a large part to do with getting over the hump of integration.