Swimming robots enable the monitoring of aquatic environments and the assessment of ecosystem health. In this context, biomimetic soft robots have emerged as a promising alternative to propeller-driven vehicles due to their reduced noise generation and intrinsic safety when operating in close proximity to aquatic flora and fauna, thereby minimizing environmental disturbance. Furthermore, when operating in natural ecosystems characterized by dense vegetation and animal populations—such as lake shores, coral reefs, or submerged aquatic fields—robotic platforms must be compact and agile in order to navigate effectively through cluttered environments. This thesis presents the development of Wave-e, a compact 10-cm-long biomimetic swimming robot designed for underwater operation.