Abstract: A PZT(piezoelectric ceramic)-driven electromagnetic miniature robot which could fulfill the requirement of large range, high precision and omni-direction in a desktop factory was presented. With the cooperation of two electromagnets, the robot was able to move forward/backward, turn left/right, and rotate around its own center based on the stick-and-slip motion principle. On the assumption that the two parallel-setup piezoelectric actuators maintain parallel to each other in one step motion, coordinates of the four standing legs were analyzed, resulting in a locomotive differential model to reflect position and orientation changes. The calculated results showed that the maximum step length in rectilinear movement was 0.042 0 mm, while the maximum step degree in rotary movement was 0.185°/step. Experimental results of open loop trajectory control, point-to-point pose control and closed-loop path following control proved the effectiveness of the miniature robot when used in a desktop factory.