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This paper is devoted to study the swimming micro robot in liquid on the basis of simulation a wild aquatic animals movement, mainly based on the fish propulsion mechanism. In the paper the theoretical basis and propelling principle are introduced. With the analyzing of kinematics and dynamics of the swimming micro robot, the theoretical model is built up. The resistance during the locomotion of swimming micro robot is analyzed, and a contrast of efficiency between different propulsion modes is given. Some kinds of experimental projects are introduced. With the detailed experimental studying of swimming micro-robot, the results are provided, and the analysis of experimental rules is given.