The project concerns a hydrodynamic analysis of aquatic locomotion, focusing on the predominant modes of lateral undulation (or anguilliform swimming) and arm swimming, to complement the design of biologically-inspired robotic devices. The main hypothesis supported is that various forms of aquatic locomotion produce vortex formations that can be exploited by marine animals and, hence, possibly by robotic analogues aiming to move in aquatic environments or emulate biological movements. Within the appropriate physiological scales and fluid properties, we utilize computational fluid dynamic techniques on time-varying geometries, performing prescribed motions that reflect biological aquatic locomotion. Within the finite-volume and immersed boundary methods framework, we investigate implementations for medium or extreme deformations, ensuring stability and accuracy of transient motion results. This study attempts to contribute towards novel robot-design methodologies in relation to system morphology and associated control strategies. This multidisciplinary perspective will help elucidate the hydrodynamics underlying aquatic locomotion and contribute to the development of challenging robotic devices.