RE: Set up question
Well, you could go with two PowerExpander Sports as a very basic configuration. Not sure about the batteries you want to run. This would provide you with the power distribution but no servo regulation so it would work for 5-cell NiMH, A123 or straight lithiums if you servos can handle that. You could also go with two PowerSystem Sports, these have regulators for the lithium batteries. Let me know if this is getting you closer.