▎ 摘　　要

Soft bilayer actuators with a simple fabrication process, diverse molecular alignment, and multistimulus response are displayed in this work. The microchannel method proposed by us can exquisitely program the molecular arrangement. Based on the mismatch in coefficient of thermal expansion (CTE) between graphene oxide (GO) and the azobenzene doped liquid crystal network (ALCN), bilayer actuators can exhibit reversible, rapid, and complex deformations under the control of heat, UV and NIR light. Furthermore, in addition to microchannels, various deformation behaviors of bilayer actuators can also be programmed by directionally arranging GO layers. Smart bilayer membranes can be customized into a range of delicate biomimetic devices, such as bionic butterfly, bionic leaf, and foot robot, promising their numerous applications in biomimetic and intelligent soft robotics fields.