Balorn:
Hm, don't they have to share the same power supply as the Arduino? One of my worries is that there'll be too much current drawn from the 9v battery I have powering that, but I'm pretty new to hooking up motors.
If you're thinking of those little PP3 9V batteries, they're convenient but a horribly expensive and inefficient way to power an Arduino - and can only supply minute amounts of current which makes them a poor choice for powering any loads. I think you would be better off looking for four AA or AAA size NiMH rechargeable batteries to power the servos/motors, and if your motors don't draw too much current you might even be able to power the Arduino from the same batteries.