The Amphibot I robot was built in the purpose to mimic animal locomotion like the snake’sor lamprey’s. But the lack of independence due to weak microcontroller and bus performancehaven’t allowed the robot to be autonomous. The Amphibot II robot comes with a new, morespacious design that allow a more powerful microcontroller to be integrated.The Philips ARM LPC2129 is chosen to fulﬁll the increased demand in computational power inthis new robot. Along with the ARM more connectors appear on the circuit and the AmphibotII becomes a powerful and expandable robot. But designing the hardware parts doesn’t comealone and the software to control those new high performances functionalities must be written.The result is a powerful and expandable circuit that can handle several external devices andcommunicate with all the other circuit of the same kind through its high speed CAN bus. There-fore, the design isn’t bug free and some errors have still to be ﬁxed.