This work started with a partnership with Professor Terrie Williams at the University of California at Santa Cruz. She has trained two Atlantic bottlenose dolphins (Puka and Primo) to push on a load cell under water, while videotaping their motions (see below).
This lead to the development of a mathematical model predicting thrust generation at low speeds and also lead to some interesting insights into the role of compliance in dolphin propulsion. Below is a photograph of a robotic vehicle designed here at Boise State (by Rob Huot). It measures about a meter from nose to tail and is powered by a small 12-volt battery. A single DC motor is used to power the tail while hobby servos control the flippers.
We are also looking into the theory of maneuverability using nonlinear computer models of this vehicle. Frank DelRio is the researcher heading up that effort.