Abstract: The design and control strategy of a shape memory alloy （SMA） driving micro creeping car are presented. Instead of following the traditional motion mechanism of legged-structure, a wheeled structure is adopted. It focuses on the design of its resilient- rigid coupling SMA actuator （RRSA）, and wheeled-structure mechanism. The micro-robot utilizes PSA to mimic earthworm’ s movement, flexible -rigid coupling mechanism to improve the walking pace greatly and the self-locking device to control the moving direction. So the micro-robot can roll at a high speed.