The Football Association of Wales has confirmed that Rowberry will continue in his role as assistant to Craig Bellamy in the Wales national team.
And Walters added: “Welcoming two assistant principals of such caliber and with such innovative and progressive mindsets as Paul and James is another important part of how we will look to progress and grow.”
Robins led the Sky Blues to promotion from League Two and League One and reached the Championship play-off final in 2023 before losing to Luton on penalties.
They failed to match that top-six finish last season but took Manchester United, where Robins began his playing career, to a penalty shoot-out in the FA Cup semi-finals.
He has also been in charge of Rotherham, Barnsley, Scunthorpe and Huddersfield.
Stoke started the season with Steven Schumacher but sacked him in August to appoint former Huddersfield and Norwich manager Pelach.
However, they only won three of his 19 games in charge and the 36-year-old was sacked on December 27 after a 2-0 home defeat to Leeds extended their winless run to nine games and left them in 18th place in the Championship.
Robins is now the club’s seventh managerial appointment since his 10-year spell in the Premier League ended in May 2018.
They have yet to finish in the top six of the championship since being relegated.
“With the proven track record that Mark brings to the role, I think this is a really exciting time for Stoke City,” said Stoke chairman John Coates.
“The recent win over Sunderland, with the way the team competed on the pitch and connected with the fans, gave everyone a huge boost and gave a glimpse of what can be created at our club.”
