A fluid-driven actuator 100 includes a bending actuator 200 including a first wall portion 201, a second wall portion 203 cooperating with the first wall portion 201 to define an undulating actuator profile. The bending actuator 200 also includes an inner fluid bladder 202 disposed between the first and second wall portions 201,203 and following the undulating actuator profile. The fluid-driven actuator 100 further includes a restraint member 300 arranged to cooperate with the bending actuator 200 to produce a plurality of motions in response to fluid supplied to the inner fluid bladder 202.