for most part i have seen the motor that you wish to use, you cannot build the type of h-bridge that are compatible with the motor needs, i suggest to you that you make use of existing DC motor controller that will give you atleaset 2x the peak current rating of your motor, this way you would give the driver a chance to not overheat. in term of control look into the various way you could control a DC motor with in its pages.
http://www.modularcircuits.com/blog/articles/old-h-bridge-secrets/part-1/
this website have teach me a lot on motor control and i hope you will find it useful too.