In　the　paper,　our　preliminary　work　in　using　ICPF　to　develop　a　novel　tortoise-like　flexible　micro-robot　with　four　legs　and　one　tail　is　reported,　which　can　crawl　and　swim　underwater.　ICPF　is　the　abbreviation　of　Ionic　Conducting　Polymer　gel　Film　which　is　a　kind　of　smart　film　and　can　give　large　and　fast　bending　displacement　in　the　presence　of　a　low　applied　voltage　in　wet　condition.　For　controlling　and　analyzing　easily　the　robot,　we　establish　the　micro-robot＇s　tail　dynamic　model　by　applying　Pseudo-Rigid-Body-Dynamic-Model　(PRBDM).　Then,　the　frequency　analysis　of　a　micro-robot　based　on　PRBDM　is　investigated.　The　relation　between　the　robot　tan＇s　displacement　and　the　electrical　voltage＇s　frequency　f　is　theoretically　derived　and　the　simulation　result　for　the　tail＇s　displacement　is　performed.　Based　on　the　characteristics　of　the　micro　bio-robots　actuated　by　ICPF,　a　short-distance　multi-hop　communication　mechanism　is　designed　and　can　be　used　to　constitute　a　wireless　sensor　network.　In　the　mechanism,　every　peer　only　restores　one-hop　peers　in　its　routing　table,　which　is　so　small　that　the　search　speed　and　network　efficiency　is　increased.　In　addition,　data　is　transmitted　by　multiple　paths.　The　network　resources　are　made　adequate　use.　The　reliability　of　the　network　is　increased,　too.　Thus,　the　network　consisted　of　micro-robots　can　be　established　quickly　and　flexibly.