We are dedicated to create soft robots in the micro- and nano-scales that are able to swim controllably at low Reynolds numbers in diverse environments. These fascinating devices can be actuated by external stimuli and in most of the time their swimming mechanisms are inspired from nature. Our designs are based on passively and actively propagated waves along soft bodies and we conduct a thorough mathematical modeling to understand and optimize their response. We are also dedicated to the wireless-actuation of these devices using magnetic methods to enable them to access small spaces in a non-invasive manner.