I would concur, I think your best bet for avoiding the alignment problem is to use the clutch parts suggested above. I've also found that a problem with the 24 tooth gear to 12 tooth double bevel combo is that it tends to slip if you give it a lot of torque. In general with walkers, if the legs have to carry the weight of the battery box, you also need a good bit of gear reduction in order to get it to work without ripping itself apart somewhere.
Hope you post pictures when you're done, I'd like to see your implementation of Theo-style legs...