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A bi-directional standing wave linear piezoelectric actuator with four driving feet is proposed.Two transducers are set parallel: the first transducer push the runner forward, while the other drives backward.The frictional force between the interfaces is reduced by using ultrasonic vibration.The prototype achieves maximum no-load speed of 244 mm/s and maximum thrust force of 9.8 N.The prototype achieves very close output speeds for the bi-directional driving.A bi-directional standing wave linear piezoelectric ultrasonic actuator with four driving feet is proposed in this work. Two sandwich type transducers operated in longitudinal-bending hybrid modes are set parallelly. The working mode of the transducer is not simple hybrid vibrations of a longitudinal one and a bending one, but a special coupling vibration mode contained both longitudinal and bending components. Two transducers with the same structure and unsymmetrical boundary conditions are set parallelly to accomplish the bi-directional driving: the first transducer can push the runner forward, while the other one produces the backward driving. In the experiments, two voltages with different amplitudes are applied on the two transducers, respectively: the one with higher voltage serves as the actuator, whereas the other one applied with lower voltage is used to reduce the frictional force. The prototype achieves maximum no-load speed and thrust force of 244 mm/s and 9.8 N. This work gives a new idea for the construction of standing wave piezoelectric ultrasonic actuator with bi-directional driving ability.