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A centimeter-scale robotic fish is proposed and realized in this paper. The robotic fish mimics a type of small crucian. Its swimming pattern of cruise-straight, cruise-in-turning, burst and coast are realized respectively. The remote control function is realized at the base of an infrared sensor. An IPMC actuator and two pieces of PVC film construct a caudal fin to mimic the swing of the small crucian in structure. The whole size of the robotic fish is 98 mm times 45 mm times 20 mm. The length of rigid part of the robotic fish is 2/3 of the whole length. So the payload of the robotic fish is ensured. The optimal size of the IPMC actuator is got through theoretical analysis and experimental validation. To improve the efficiency of experiments, we use modular design in the robotic fish. Every part of the robotic fish can be disassembled.