<p>Because of their rigid mechanism, traditional amphibious robots have limited degrees of freedom (DOFs) and poor safety interactions with humans. This research presented an amphibious soft robot with four feet actuated by two electromagnets utilizing the soft material casting process. The soft robot could move smoothly in different environments with two distinct gaits and variable switching frequencies of the electromagnets thanks to valves on the cavity, toes with frictional anisotropy, and grooves on the feet. It was demonstrated that the developed robot could go from land to water surface over varying slopes with an average velocity ranging from 31 mm/s to 36 mm/s under given conditions. Once the valves on the robot opened, the robot could be filled with water and was able to move from land to underwater. The average velocity in this case ranged from 27 to 34 mm/s using the identical magnetic driving conditions. Further study indicated that the magnetic force generated by the electromagnet could overcome various environmental resistances. Consequently, each foot of the robot could be readily opened and closed to drive the robot forward in the different conditions. However, due to the characteristics of the foot force and the work done by the force in different environments, the influence of different gaits on the velocity of the robot was more obvious on the road surface, and the switching frequency of the electromagnets had obvious influence in different environments. Finally, the kinematics equation and robot steering motion would be examined to further reveal the motion behavior of the amphibious soft robot.</p>