Stimuli-responsive polymers play an important role in many applications, such as diagnostics, smart optical systems, and tissue engineering, as well as in micro-electromechanical systems, biosensors, textiles, and coatings . Shape memory polymers (SMPs) are one type of important stimulus-responsive polymer that can adopt temporary shapes and recover their original shapes upon exposure to external stimuli . Although the basic shape memory behaviours of SMPs are focused on elongation, bending, and swelling, through proper material structure and stimuli design, complicated shape memory behaviours such as walking, rotation, and vibration can also be achieved. The general mechanism of the shape memory effect (SME) is attributed to the reversible switching structure of SMPs. This reversible switching structure may be responsive to stimuli such as heat, electricity, magnetic field, light, and Ph . Thus, SMPs have received the increased attention of researchers for many potential applications.