Fig. 4. Illustrations of the flipper design and location for the sea lion from lateral (A) and dorsal (B) views. The position of the center of gravity (CG) is indicated by the filled circle. Rotational and translational instabilities associated with a three-dimensional axis system are projected on the lateral view of the sea lion. Rotational instabilities include roll (rotation around the x-axis), pitch (rotation around the y-axis), and yaw (rotation around the z-axis). Translational instabilities include movement along the three axes as surge (x-axis), heave (y-axis) and slip (z-axis).

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