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Look up "N20 motor gearbox" or "N10 motor gearbox". They're small, but with way vastly more torque on the output than a worm-drive (which has huge power losses in the worm). They come in a variety of output speeds (based on gears ratios in the gearbox), and usually a choice of 5v or 12v rated motors (5v may be more use if going for a battery/radio system of control, need fewer volts in the batteries).
They may be powerful enough for what you're doing. If not, there are many similar motor gearboxes which are a little larger.
 
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