I was induced twice at 37 weeks for medical reasons.
No1 - prostin, waters artificially ruptured, syntocin drip, epidural, episiotomy, forceps
No2 - prostin, waters artificially ruptured, gas and air, then I tore
Now this varies from person to person but both my induced labours were monstrously painful. Your labour will be started artificially with prostin and waters being broken even before the syntocin drip comes along. So you contractions will be artificial and possibly extremely painful anyway.
Personally, for me, delivery no 1 was "controlled" and I felt fine. It took me a little longer to recover as I had soreness in my back from the epi and my hand from the drip.
Delivery no 2 was out of control. I was in utter agony, vomiting etc. I had requested an epidural but they left it far to late (I had been begging for it for a long time). As it didn't have the epidural, it was horribly painful and if I had this birth over again, I would have the epidural.
I think you shouldn't discount the epidural out of hand. You should see how you go and put on your birth plan that you will have a epiduaral if you feel you need it. Don't put you don't want it as a friend of mine did that and then when she requested on in labour, it was denied because she had put that she didn't want it on her birth plan.
This is just my experience, but with no1, I didn't mind being stuck on my back. With no2, although I was "free" to do anything (ie no drips, no anything), I was in so much agony that I was unable to move anyway.
Keep an open mind - we all labour differently so you may be fine without the epi, but on the other hand, you may be desperate for it.