Abstract: Embodiments of the present disclosure relate to a propulsion device and an underwater robot. The propulsion device includes a bracket, a first thruster, and a second thruster. A first chamber and a second chamber are defined in the bracket, and the first thruster and the second thruster are respectively arranged in the first chamber and the second chamber. In a stationary state, in the case that the first thruster acts as a horizontal thruster or a vertical thruster, the second thruster functions as a vector thruster; or in the case that the second thruster acts as a horizontal thruster or a vertical thruster, the first thruster functions as a vector thruster.

Abstract: Provided are an underwater robot and a method and apparatus for controlling an underwater robot. The underwater robot includes a robot body and at least three groups of thruster arrays disposed on sides of the robot body. Each group of thruster array includes two thruster components, each of the two thruster components includes a housing and a propelling mechanism, the two thruster components in each group of thruster array are symmetrically disposed on two sides of the robot body about a central axis of the robot body, and at least three values of included angles between propelling directions of at least three thruster components located on a same side of the central axis, and the central axis are formed. The control method includes: acquiring coordinates of a target position point and enabling a robot body to arrive at the target position point by using at least three groups of thruster arrays disposed on sides of the robot body.