If you're looking for metroid type games look up the genre Metroidvania.
Castlevania on the DS coined this term as it's gameplay and level progression was similar to Metroid's. You said you didn't want to bother with stuff on consoles you couldn't emulate, well if you can emulate a DS check out ALL of the Castlevania games on it. They're all amazing. Also check out Castlevania Symphony of the Night, PSX.
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Ys: Oath in Felghana is a good action-RPG that's more in the style of something you would normally find on the consoles. It's much more linear and more action-y than Zelda, though. Another game in the series, Ys Origin, is due out on Steam tomorrow.
+1 that game is amazing and worth it. its actaully pretty zelda like just the combat is a little more in depth and the challange is excellent. the game it self plays really nicely its not as puzzle oriented as zelda but it should be fine. look into it on steam i cant even belive how overlooked Ys games are in general and Oath in felghana is pure awesomeness and i cant say to get origin.
ErrorSupply 3-D DS -OMG! It's the ultimate anti-pirate tech O:.