Hi Big Mike - I play continually with robots of varying sizes and shapes - what constitutes "enough power!" - I'd recommend for relatively low torque that steppers are easily available, cheap and extremely versatile as control is supplied by a driver and a controller - I'd heartily recommend Arduino and a single chip driver - both available for around $5 I'd guess on ebay.
Higher torque solutions - I've used a range of standard motors but these can be radically stepped down using cheap gear boxes - ebay can do them again for around $5 - you might want to include an H-Bridge for easy forward / reverse.
For a power supply - check out cheap Li-Po batteries - best power to weight ratio you can get

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