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This paper presents two designs on small robotic fish with IPMC actuator. We chose PIC microcontrollers as the control chip for two designs. In the first robotic fish an infrared remote control device is used. We use microcontroller to control DAC and make an OCL circuit as the amplifier circuit. The whole circuit can generate sine wave and square wave. On the basis of the first robotic fish research achievements, the second fish is simplified in the design of control circuit. We use ZigBee remote control module as the communication system. This fish is able to perform the collection of water temperature and display function.