Abstract: A self-propelled programmable steerable robot (10) useful for cleaning a submerged surface of a swimming pool or tank, said robot comprising, a body member (11), a drive (40) included in the body member for rotatably driving a first shaft (53). A transmission (50) is also included in the body member, said transmission including said first shaft and said first shaft having fixed thereon in a spaced-apart opposed manner first and second beveled gears (55a, 55b). A second shaft (31) is positioned in orthogonal relationship to said first shaft, said second shaft having fixed thereon a third beveled gear (56) at a point on said second shaft so as to be able to alternately mesh with a selected one of said first and second beveled gears of said first shaft depending on the physical position of said second shaft.