... the legs of the 'BionicAnt'. Three trimorphic piezoceramic bending transducers are installed in each of the upper legs. They are both an actuator and a structural component. If the upper bending transducer deforms, the ant lifts the leg. Each of the six legs can be deflected forwards and backwards with the pair attached underneath. In order to increase the relatively small stroke, the Festo team has developed a flexible hinge joint - it significantly increases the ant's step width.