**6. Conclusions**

In this chapter, the bionic type piezoelectric actuators with long-range outputs are introduced. Firstly, we present the frequently-used piezoelectric materials and the piezoelectric effects including the direct piezoelectric effect and the converse piezoelectric effect. Next, the inchworm type actuators are elaborated, which are classified into the walker type, the pusher type, and the mixed type. Then, we describe the seal type actuators including the walker type, the pusher type, and the mixed type. Afterwards, the characteristics of the bionic actuators are discussed. The configurations, classifications, principles, connections, and distinctions of the bionic type actuators are all presented in the chapter. We not only analyze the advantages and disadvantages for each type, but also discuss the derivation relationships among the actuators. This chapter conduces to readers to study the bionic piezoelectric actuators and is conducive to accomplish effective designs and future breakthroughs in technology.
