We built up the way of fabricating IPMC actuator with palladium electrodes and evaluated its deformation behavior under various solvents and various frequencies of input voltage. We fabricated IPMC actuator by the non-electrolytic plating method, and investigated the deformation behavior of IPMC actuator. From the experimental observation, the bigger the ionic radius of cation became, the larger bending response IPMC actuator showed. When the electric field across its cross section was unloaded, IPMC actuator showed a large back relaxation under high temperature. In the experiment of the input voltage frequency response, IPMC showed good response to various frequencies from 0.1 to 6.0 Hz and we could observe resonant peak at 5.5 Hz.