A newly proposed T-shape piezoelectric actuator, composed of piezoelectric benders, was designed and studied. This actuator has four legs, and can walk in both forward and backward directions. The piezoelectric actuator has a simple structure and can be easily fabricated. It consists of a piezoelectric bender and a joint. The piezoelectric bender is composed of carbon and ceramic materials. Therefore, there is an advantage in that it can be fabricated on a very small scale. Elliptical displacements of the piezoelectric actuators were analyzed by finite element analysis. Elliptical motion at the tip occurred at two voltages having a 90-degree phase difference. Based on the finite element analysis results, prototype actuators with maximum displacements were fabricated, and the characteristics of their movements were characterized.