What your are looking for is probably sth suggested in this post:
http://forum.getkirby.com/t/choose-from-multiple-field-groups-within-a-structure-field/1296
However, something like that is not currently possible.
As regards repeated fields, these are possible with Kirby. If you can live with fields that are not always all filled for all entries, then you could use the structure field http://getkirby.com/docs/cheatsheet/panel-fields/structure which is even more powerful now with the new toStructure() method http://getkirby.com/docs/cheatsheet/field-methods/toStructure