Abstract: The principle of worming motion is stated. Bosed on it,a miniature worming robot(MWR),that consists of three La: PZT electrostrictive actuators and an unique set of flexible joint mechanism, is developed. The MWR, with the dimension of 150× 61 ×46mm and a weight of 2kg has a max stride of 10μm.Its max travel is 40mm.