Our approach/research focus

• Produce actuators as a bimorph of metal and dielectric; use residual stress to lift actuators out-of-plane (thus generating both force components) at no cost in power.
  
• Use differential thermal expansion of metal and dielectric to provide part of force, Lorentz force on current-carrying loop for additional force.
  
• Use “start-high” 4-phase gait to propel object.

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