Ionic polymer-metal composite (IPMC) is used in many bio-inspired aquatic systems due to its special characteristics of wet electro-active polymer (EAP). This paper proposes an IPMC actuator using poly-vinylidene fluoride (PVDF)/polyvinyl pyrrolidone (PVP)/polystyrene sulfuric acid (PSSA) blend membrane and explains a bio-inspired walking microrobot using the proposed IPMCs as actuators. The proposed IPMC actuator was fabricated using a PVDF/PVP/PSSA solution with the mixture ratio of 30/15/55. It could generate higher tip displacement and blocking force at low DC voltages compared with Nafion-based IPMC actuator. The PVDF/PVP/PSSA-based IPMC actuators were employed for our bio-inspired walking microrobot. Finally, the bio-inspired terrestrial walking microrobot has the weight of 1.3g and can demonstrate a walking motion with a speed of 0.55mm/s on the 0.2 coefficient of friction surface.