" Current Drain (6.0V): 8mA/idle "
Small servo could drain 500 mA or even more under load, expect 18 x 0.5 = 9A if you switch on all of them simultaneously.
For power you better look for "step-down" DC/DC converters, for example auto +12V to USB +5V switching charger will be good, so not with 9A rather 1-2 A.
60 min = 1 hour, capacity 9000 mA / hour. But with switching DC/DC from 12 V to 6 V you will need only half of 9000 mA/h or about 5000 mA/h incuding 10% losses in conversion.
Check the battery setups for the below hexapods which usually have 18 servos. Also a power converter called a UBEC is often used to convert higher voltage battery outputs to either 5v or 6v.