The　Ionic　Conducting　Polymer　gel　Film　(ICPF)　can　be　driven　by　a　low　voltage　(about　1.5　V)　and　has　advantages　in　the　less　mass　and　fast　response.　A　micro-robot　moved　at　3　mm/s　velocity　in　the　water　can　be　actuated　by　the　ICPF　(21.6　mm4.6　mm0.2　mm).　An　image　processing　system　is　designed　for　detecting　and　controlling　the　movement　and　posture　of　the　micro-robot,　which　consists　of　a　CCD　camera,　an　image　interface　card,　a　computer　and　a　waveform　generator.　A　movement　and　posture　image　sequence　of　the　robot　fish　is　captured　by　a　CCD　camera　to　obtain　a　binary　image　of　each　frame　by　the　hue　automatic　threshold　segmentation　and　boundary　extraction　based　on　the　similarity　target　of　in　a　short　period.　Then,　the　target　location　and　movement　direction　are　calculated　by　the　circle　detection　using　improved　Hough　transform.　According　to　the　target　location　and　movement　direction,　the　robot　fish　posture　can　be　controlled　by　changing　the　voltage　and　frequency　of　ICPF　and　by　using　the　waveform　generator.　Results　show　that　system　consumes　52　ms　for　processing　a　piece　of　picture　in　a　Pentium　42.8　G　computer　with　1　G　memory　and　achieves　the　real-time　detection,　tracking　and　control　for　the　micro-robot　fish.