Keeping an eye out for decent motor assembly, I came across this one at the salvage store. I really wanted worm drive since it offers more torque, less backlash and supreme startup. This is a 12V motor and is reversible, very high torque. I've pushed up to 24v thru it without any problems. Only the future will tell, if this is the correct way to go.
$19 each at the salvage store (American Scientific still has some), I got one for each leg.