After searching through various manufacturers of small DC motors I've decided upon using these motors.
http://www.hansen-motor.com/brush-se10dc.php
at .44oz/in of stall torque i'm planning to use a 1:100 ratio to get 44 oz/in of stall torque; more then enough for my application. This is only a proof of concept, so if it works these servos can be easily expanded to handle much larger and more powerful motors.
On a more practical note these motors run at 5v, meaning i can run the servos and logic at the same voltage and decrease the amount of components in the circuitry.
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