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The motors I use are NEMA 17 with the reference 42BYGHW811L20P1-X3. This motors have a torque of 47.1 N·cm, so they are powerful, and they have a body height of 47mm so the structure of the printer can rest on their base. Those are the two critical characteristics.
Must be exactly or at least 47.1 Ncm and 47 mm. For example a nema 17 with 37 Ncm and 40mm body height is enough.
The motors should be 47mm in heigh because they are part of the printer base. If your motors aren’t that height, you can use a part like this adapter: http://www.thingiverse.com/thing:1076053.The torque is the “force” of the motor. I think that torque will be enough for the X, Y and Z axis, but the extruder may give you problems when printing at moderate or high speeds or layer heights.