This chapter presents a piezoelectric-actuated biaxial compliant microgripper capable of long-stroke automated gripping and rolling of micro-scale objects. To enhance the working stroke while maintaining a compact footprint, a counter-side distributed two-stage lever amplifier with parallelogram mechanisms is introduced. Using the pseudo-rigid-body model, analytical formulations for the displacement amplification ratio, input stiffness, and natural frequency are established for both gripper arms. The design is optimized and simulated via finite element analysis. Experimental validation demonstrates that the microgripper achieves gripping and rolling of a 200 \(\upmu \) m optical fiber by over 45 \(^{\circ }\) , showcasing its potential for precision applications such as optical fiber alignment.