check out the sticky posts in the 3d section, a lot of information has been gathered there.
Dont ask what modeler to use, people will say to you each one is preferred because of the flow of design it takes you along or the methods it uses to achieve the result.
check out the stickys for the links to modellers and spend some time learning the package you think will be the best for you.
Specifically with animation, milkshape, true space 4+, maya and 3d studio max are the ones i know of that have methods for exporting animation.
it will take a while to get used to it but spend the time and reap the results.