Stepper Motor (high torque) advise needed

I’m a beginner in electronics and arduino. I shouldn’t propably working on an advanced project at the begining of my journey but I prefer to work on something I’m interested in. Back to my project, I need a stepper motor (high torque = > 20 Kg-cm) to pull a rope (1.5m long) around a pulley. I also want to make it work with a battery and of course control it with arduino. What kind or power motor should I use? Do I need a stepper controller, other than arduino, also? Furthermore, the mechanism should be kept in a low weight. After a short search I came across to: (57BYG621 NEMA-23 Bipolar 76mm Stepper)
with controller (1063 - PhidgetStepper Bipolar 1-Motor)

and (42BTGHW811-AG5.18 NEMA-17 Bipolar 5.18:1 Planetary Gearbox Stepper)
with the same controller (1063 - PhidgetStepper Bipolar 1-Motor)
What is your suggestion? What kind of parts do I need? Is there any example code close to my project? Is it possible to pull such weight with a battery <= 12V?
Thank you in advance…

First and foremost, are you sure you need a stepper motor? The main benefit of these types of motors is precise positioning. If you just want a high-torque motor without the need for precise positioning you would likely be better off with a regular DC motor.

In either case, you will need a "motor driver" for your motor, as the Arduino cannot provide enough current directly. Sometimes this is called a "motor controller" but I am picky, to me a "controller" is what has the intelligence (Arduino in this case) while a "driver" converts low-voltage/current signals to the higher voltages/currents needed by the motor. Your PhidgetStepper part does both.

-- The Ruggeduino: compatible with Arduino UNO, 24V operation, all I/O's fused and protected

I need precise positioning, that is why I choose a stepper. Can’t I do my job just with the apropriate controler chip in a bredboard?? Why should I buy an entire motor controller board when I only need the a chip? I do not want to use it generally with other projects, only to do my specific job. In this case what kind of chip should I use for a <20V stepper??