Iain M Banks is your man. The culture novels have some pretty hardcore characters and while nothing like as grimy as Erikson, his style is a little more towards that realistic grubbyness that makes it all seem a bit more human.
And as someone else said above: The Algebraist. It has a nice meaty battle with more realistic physics in it, but it's combined with a bit of super-science as well. Oh, and one seriously evil motherf***** is in it as well for your enjoyment.




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