本文內以兩棲型機器人主題為核心，設計一隻適用於救援與探索兩功能的蛇型機器人。本文的研究重點在於透過紅外線感測器測量機器蛇相對於環境的距離；並提出自主判斷環境能力與方向控制相連接的控制方法及提高此兩棲蛇型機器人爬行和游泳的能力，實驗結果表明這種方法是有用的。

本文使用Solid Works來進行機構設計，並組裝機構後進行運動模擬，機器蛇所有的結構設計都是通過3D列印製作完成，動力來於伺服馬達，此隻兩棲蛇型機器人的幾何尺寸為長180cm寬10cm高10cm，重量約5.2kg(包含所有硬體零件)，實驗結果在陸上前進速度為3.125cm/s，水上的前進速度26.923cm/s，在水陸直線方向穩定度高。

Snake robots display advantage in areas such as rescue, exploration and search because of its ability to move through tight spaces.

The paper introduces the design of a mechanical snake robot, which can sense the environment by the ability of measuring distance. We propose a control technique that connects environment adaptation with directional control.

In the purpose of increasing the ability of amphibious snake robot to crawl and swim, we proposed to increase the crawling ability, swimming stability and direction control at the same time.
The results show that this technique is useful. The crawling speed is 3.125 cm/sec. The swimming speed is 26.923 cm/sec and the direction is straighter.

All of the structures and designs are set up with a 3D Printing.

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