Five minutes ago I answered another question about Pi and motors.
So almost the same answer: Have a look here:
http://www.gertbot.com/toaste.html
I had no problems running from the 9V battery but then I had a very, very clever motor controller
Stall current depend on your motors. Beware that it is not so much stall as ramp-up inrush current which
can draw a lot of current. Expect total different problems like start and stop effects:
Toast-E would go vertical when starting, like a rearing horse.
Also when I stopped it would tumble over because of the momentum.
In my case it was solved in 1 minute by telling the motor controller to ramp-up and ramp down.
You have to program that all yourself.
Post edit: I JUST! saw a GIF on the Raspberry-Pi twitter page which shows exactly this behavior.
A robot arm moving a bottle and a plastic cup spilling all over the place because of the abrupt start-stop motions.