Struts1 is pretty much legacy and shouldn't be used anymore. Struts2 is pretty popular and their are ways to make it's configuration minimal. SpringMVC is mostly configuration free at this point with support for annotations, although you can still wire things up using XML if you like. As I said, most other frameworks these days are pretty light on configuration; Tapestry, Wicket, etc.
Basically, the way I look at projects these days is can it be done in Grails? If not, then can it be done in Stripes? If not, I'm not sure what I'd look at because that hasn't happened yet.