Go to the pound and let a dog pick you. You don't pick the dog, no matter what, they always pick you..
The best dog I've ever owned is my 90lb Doberman Pinscher. He's 12 years old, and we got him as a puppy. He's grown up right beside my kids, and loves them to death. Noone will come near them when they're outside playing in the fenced in back yard either, which is a bonus.
My best advice is since you have children, get a puppy no matter what breed. When puppies grow up around kids, they are more tolerant of the things small children will do to them. When my kids were small, they thought the Doberman was a playground, and climbed all over him, pulled his ears, probably poked him a few times, fell on him while playing, etc. and he's never done as much as growl at them. He grew up with them, so he's used to it.