VRRP is what you want. You give your two gateways a real physical address each, then a third address acts as a shared virtual address, and its this you use as your default gateway on your hosts. If you have Cisco routers they also have a similar proprietary mechanism called HSRP which has a few more bells and whistles.
I seem to recall setting up VRRP on linux some time in the past, I don't think it was too hard. Google "vrrp linux howto" and I'm sure you'll find something.
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