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We present a survey of fish-like propulsion at millimeter scale in order to build high efficiency swimming microrobots. We begin with a mechanical study of the fish-like propulsion. The mechanical model we used shows that undulatory motions are more efficient than oscillatory motions. We applied these theoretical results to the design and the realization of a microrobot propelled by the beating of two fins. Fins are moved by a transducer material called IPNC (ionic polymer composite metal). The experimental results allow us to check our theoretical model of the microrobot. Finally, we propose an improved microrobot which would have a better efficiency.