My ex wife HATES the way I let our daughter take risks. She HATES the way I don't coddle her when she is hurt (there's a difference between hurt and HURT, mothers) and instead insists she "mans up" so to speak. She HATES the way I let her fail over and over and over and don't lie and say everything she does is "good enough." Well in twenty years she'll be happy with who our daughter has become even if she won't have enough insight to understand how she became so.
There's a difference between being hard and your kids/having expectations for them and being an unfeeling dick. I love the shit out of her and hug her every day. Doesn't mean the world needs to stop when she stubs a toe.
If you want your children to be self actualized, confident, powerful, contented, centered and engaged (with the world) adults..........when they are kids LET THEM BE KIDS. Helicopter parenting is the worst thing to happen to childhood since media reports of kidnappings became so prevalent (actually there's a casual relationship there which the media should have to answer for). It may sound stupid but there's a direct correlation between tree climbing and playfighting (risk taking and "violence") and adult success. Every time you tell them to stop because they "could get hurt" you're reducing their chances of succeeding later in life. Which of course you will blame them for in twenty years, adding to the damage you already caused.
LET YOUR KIDS BE KIDS.