I've done lumia with a stepper, 25:1 gearing, and a < $10 ministeping driver that was smooth as silk even at barely perceptable speeds. (Seriously, you had to stare at in to see see that it was moving at all.) And I'm as critical as hell, ask anybody...

The only problem is - I've got about 40 of the prettest little Olympus brushless DC motors with 1000:1 planetary gear heads that are way better than the Escap motors that we used for Laserium, and I don't need them anymore... sigh