Microcontroller Selection Suggestions?

I am using a development board at the moment but it has a ton of unnecessary components and I am trying to recreate the operation I have with just a microcontroller. I will input a signal from an IR-Sensor and use that input to determine what actions to take in controlling a DC motor, servo and display on an LCD. Any suggestions for what kind of microcontroller to use?

PIC's are the most popular, but pretty well any should do the job.

If you check my PIC tutorials, it covers many of your requirements.