In this study, fabrication and evaluation of biomimetic jellyfish robot were performed by using IPMC actuators. Application fields of the existing IPMC actuators are limited due to the flat shape which is a serious weakness for such actuation material. A new curved IPMC actuator with intended initial deformation was newly developed to overcome the weakness of the flat IPMC actuator and to mimic the jellyfish robot. The thermal treatment was applied to obtain intended initial deformation. The bio-inspired dynamic signal was generated with real motion of the jellyfish. The buoyancy of the biomimetic jellyfish robot under various driving signals was measured and compared. Although there are still certain problems to be resolved in the power system and buoyancy, the curved IPMC actuators may possibly be a promising candidate that can materialize the biomimetic fish robot.