This paper presents the design and control mechanisms of the amphibious robot, AW-hex. AW-hex is a six-legged robot specifically designed for cable trench inspection environments, equipped with six wheel-leg structures that integrate fin-wheel technology. The robot boasts a simplified mechanical structure, complemented by a waterproof sealing design, which allows it to operate effectively in the terrestrial conditions of cable trenches and to manage inspection tasks even when immersed in water, as might occur during flooding disasters. The AW-hex demonstrates impressive robustness and reliable performance. The paper delineates the gaits and operational modes of the AW-hex through simulations and experimental testing.