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Is it possible to plug a motor into the input ports?

Yes, on the RCX. The motors can be treated as sensors.

The NXT motors can be used as sensors while plugged into an output port. By clicking on the NXT comands icon, in the new Robolab software, a selection of "Value of" icons will be avaible for output ports A, B, and C

By connecting a motor to a sensor port, on the RCX, it can be used as a sensor.  Make sure that you initialize the port as an unpowered sensor.  There are many different uses for this type of sensor. Below is an example using it as a speed sensor on a car and measuring distance.




Here are some pictures of the car used to test the program:









AG
ses

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