Best way to power a 19 servo robot?

2S LiFePO4 gives 6.4V, which seems a reasonable match. LiFePO4 is more forgiving than LiPo to abuse (not that abuse is ever a good idea with lithium). LiFePO4 has much longer life too. Big prismatic LiFePO4 cells are available covering a wide range of max currents and capacities.