So I've found some worm gear boxes over at Pololu:
They are pretty cheap, in both respects, but I think they just might work. I wanted to just buy my own worm gears, but they get pricey really quick and having to make my own gearbox doesn't sound fun.
I think I'm gonna get this servo
Its the highest torque one that I could find at a low price point.
I'm thinking I should be able to get these things before the end of the week. Any other ideas are welcome.
For $40 you can get a stand alone servo controller like the ssc-32 (32 servos) to attach to the arduino.
Do you know of a good sensor shield, something with 32 I/O pins. I still might just make my own servo with the arduino and a pot on each motor.