This paper describes the design, modelling and fabrication of a shape memory alloy micro-actuation concept for application in an endoscopic capsule. The constraints of the actuators are discussed based on the planned integration in a swallowable capsule and a preliminary concept of a legged system with shape memory alloy actuation is presented and tested. Based on the preliminary results, a modelling of the system is given in order to optimize the actuator design in terms on length, diameter, angle and force. Thus, a new high performance prototype is developed and characterized, thus verifying the theoretical model