Underwater lateral robotic manipulation is used for multidimensional maneuverability for underwater vehicles. Bio-inspired mechanisms were built and tested for buoyancy and lateral position control for an underwater robot. To create a natural buoyancy within the robot, the researchers built fish-like bladders, using air pockets to lower the density. Ballasts displace water between the surrounding water and a containment chamber inside the robot to allow lateral maneuverability. Using the combination of bladders and ballast, the researchers can refine and manage lateral control for underwater robots, allowing for cheaper and more manageable designs.