Bird's leg-inspired MSPA

Inspired by the fact that the birds’ bodies are supportable with their thin legs, we develop a miniature self-moving piezoelectric actuator (MSPA) with high carrying/positioning capability. Here, the λ shape’s lower part and the ground form a steady frame. Meanwhile, the MSPA moves in the forward and backward movements by exciting longitudinal and bending vibrations, interestingly imitating the running-up and walking gaits.