Original article here :

http://www.botjunkie.com/2008/04/18/finnegan-the-roboturtle/

Quote from Stephen Licht (in article) :

“Finnegan” is an agile and aggressively maneuvering biomimetic autonomous underwater vehicle, propelled entirely with biologically inspired oscillating foils. The field of biomimetic robotics attempts to observe, adapt and apply the design and behavior of biological examples to improve the performance of man-made devices. Biomimetic propulsion in general, and oscillating foils in particular, have been extensively studied as a possible means for improvement of underwater vehicle agility and maneuverability."