That's a large part of where the research at Micromuscle is focused, crating a series of electroactive polymers that do impressive things when placed under small voltages, changing shape and even volume as demonstrated in the Engineering TV clip embedded below. In it you can see a few examples of these things folding into complex, golden structures on their own accord, but the main application seems to be things like catheters that can steer themselves through the bloodstream, drug delivery mechanisms that can deply multiple substances on commend, and even microscopic robots that can pick up tiny things and move them tiny distances. You know what this means: robot armageddon might actually start from the inside.
