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nitinol would need a high ampage source about the size of a car battery to make it shrink a substatial amount (that would not fit in the planned size of the robot). I had the idea to wrap the nitinol wire in nichrome wire (burns or heats up when eletricity is passed through it) to make the nitinol shrink because only little voltage and ampage is required.
You really just need different lengths for a range of movements, a single piece of muscle wire is either 1 extreme or the other so you would need say 20 pieces per muscle to allow for a 20 step motion resolution.