For the problem of amphibious robots thrust disturbance caused by the instability and environmental attitude instability, a new kind of water jet propulsion with driving wheels is designed which can be rotated compound propulsion system. In the H amphibious robot configurations application, the tilt angle separation control strategy based on the thrust and the immunity control principle stance was designed, and the asynchronous adjustment mechanism is adopted in the coupling degree of freedom. Finally, Simulink/ADAMS co-simulation platform is used to simulate and verify the attitude stability, and the controller parameters with good effect are determined. The experimental results of the physical prototype show that the h-type amphibious robot can complete the preset motion, and the attitude self-stabilization controller can restrain the attitude jitter of the robot within 5° when it runs underwater.