We are studying about robotic application of ionic polymer-metal composite (IPMC). The characteristics of IPMC highly depend on the type of counter-ions, and it is considered that the performance of the actuators can be improved by combining the actuators with several types of counter-ions and applying an integrated control. IPMC has also a sensor function, as the IPMC film generates electromotive force when it is deformed. It has possibility to be integrated into IPMC actuator with soft actuation. In this paper, we consider an integrated design of IPMC actuator/sensor, and investigate a control of the combined IPMC actuators using Hinfincontrol and the construction of IPMC sensor system