Yes. The real estate lawyer appears to know something about real estate law. (Sorry, but asking whether basic advice provided by a real estate lawyer on a real estate issue is "really true" seems odd--especially when almost all of us here advise people to speak to lawyers in cases like this.)
I'm not a lawyer, so what follows is not legal advice. For that, you need to speak to a lawyer (which you already have). However . . .
There are two different issues here: (1) Ownership, and (2) Mortgage.
I doubt your owning the home is holding you back. That means the deed would be in your name. That would actually be an asset. The house is worth something. And if the deed's in your name, you can transfer ownership to whomever you want. You don't need anyone's permission to do so.
Regarding the mortgage: It appears from reading your question that the mortgage is in your name. And that indeed could hold you back. However, to get the mortgage out of your name, someone else will have to refinance the property. Usually that'd occur if you were selling your home to Joe Smith down the street. He'd get a new mortgage, and you'd transfer the deed to him. The catch, of course, is that Joe has to qualify for the mortgage.
In the same way, for the mortgage to become your mom's responsibility, she'd have to refinance in her name--which she can't do because "she has really bad credit and wouldn't qualify." And the bank isn't going to let her "take over the mortgage." There'd be no incentive for them to do so.
So: You need to get the mortgage out of your name. Will transferring ownership to a corporation do the trick? Not by itself. As noted above, if the deed's in your name, you can transfer it to whomever you want. You certainly can deed it to the corporation. But the mortgage will remain in your name.
You could sell the house to the corporation. The catch is that the corporation would have to buy it--either with cash (eliminating the mortgage) or with new financing. You say your mom's credit is bad. How about the corporation's? Could it qualify for a mortgage? And even if it could, the corporation's accountant should look at all the tax implications.
One other point--and, because I'm not an accountant, this isn't accounting advice. For that, you need an accountant. However, usually it makes more sense to transfer ownership to an LLC than to an S corp or a traditional corporation. There are a number of tax reasons for this. An accountant can explain those to you.
But the key point is that what you really need to do is replace the current mortgage (with your name on it) with a new mortgage without your name on it.
Hope that helps.