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There is no direct dc motor that can do a low speed and high torque, to increase the torque and lower speed, geared dc motors are available, you can search google.com for 12V or 6V geared dc motors.
You can do one of 2 things:
1. Use a gear to lower the speed of the motor and increase your torque. ( There are many ways, and cheap ones to do that )
2. Use a step motor. more complecated then the first option, but you can have the abilaty to speed things up...
Good luck.
I recommend the harmonic driver which can get high moderator.It used in any place ,especially in the biped waiking robot.For example ,ASIMO,H6,H7,IN Japan.
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