We have been investigating a three-dimensional (3-D) superconducting actuator using HTS bulk to develop the transportation device with non-contact and move in free space. Proposed superconducting actuator consists of the stator constructed by two-dimensional arranged electromagnets and HTS bulk superconductor as a mover. The 2-D arranged electromagnets were individually controlled to move the HTS bulk. It is expected that our proposed 3-D superconducting actuator will be useful as a transporter used in clean room which manufactures the silicon wafer where dislikes mechanical contact and dust. To realize the superconducting actuator with HTS bulks, the electromagnetic characteristics of HTS bulk, such as trapped field strength and patterns, should be clarified and the optimized controlling system is also required. Therefore, in this study, to construct the optimal 3-D actuator system, the fundamental characteristics of the levitation for HTS bulks with individually controlled four electromagnets were investigated experimentally.