To answer everyone's question, I don't know how much voltage I will have. I mean, processors usually require 5v to operate, so my board will probably have 5v already.. weather I power it from a Li-ion or a few AAs, i could transform it into anything i want.
The motors will probably need around 100oz-in of torque, but thats just a guess.. I am still in my early design phase..
The BB one looks pretty nice, and I like the size!
I am not used to ordering from this industry, so I don't know the trusted suppliers (aside from digikey and mcmaster).. I usually end up breaking down and asking the guy at Radio Shack what to do
I looked on the robot-marketplace website, and found most motors to be overpowered.. I think that one of these will do:
http://www.robotmarketplace.com/products/AB-72003.html
On the plus side, it looks like they can all be driven with 5V.. So I can drive it directly from my processor circuit. My robot isn't going to be more than 3-5lbs, so 2-4 of these should be plenty..
I will continue my search for motors and speed controllers, but thanks for the suggestion.