>From the video, http://www.youtube.com/watch?v=3DHSTJVnf5nyA, it seems tha=
t
the motion (velocity) of the linear actuator is sinusoidal in nature (think
piston, (like that within an internal combustion engine), being driven by a
crankshaft).

So, the drivetrain could be composed of a motor attached to a crankshaft
which drives the two "pistons" (on the top and bottom) up and down.

This is sort of what I mean: http://www.animatedengines.com/stirling.shtml

The "pistons" are then attached to the tentacles by rigid rods.

How does this sound?
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