The aim of this paper is to present the theoretical background, gather essential knowledge to further research and to build measurement stand for acquiring characteristics of piezoelectric motors. The fundamentals of piezoelectric phenomenon have been presented. Chosen topologies of piezo-actuators working in special applications (especially robotics, automotive industry and aeronautics) have been described. Special emphasis was put on traveling wave ultrasonic motors, high torque piezo-motors and multiple degrees of freedom novel piezo-motors. The automatic method of obtaining characteristics of piezoelectric actuators was presented. The main attributes of piezo-drives have been discussed.