Do we have a material that reshapes itself depending on applied voltage or electromagnetic field?
A form of motion generation found in some robotics applications is "muscle wire" which changes length when you apply voltage (to heat it up). Nitinol and Flexinol are two of the brand names available. Muscle wire is one form of shape-memory alloy.

Ref: https://en.wikipedia.org/wiki/Shape-memory_alloy

Example: https://www.sparkfun.com/products/11900