Simulating Robot Motion in Water: Forces & Models

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sirt
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I am trying to simulate a robot moving in water.
I need to determine exactly what forces will act on the robot from the water (bouyancy is obvious, and understood).
I need a simple model that will enable me to compute what force the water will exert on the robot, when one of its parts move.
(I neglect turbulence in the water. Also, the water is static, not flowing!)
Thanks.
 

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The forces acting on you robot will be:
1. Gravitational (vertically downward)
2. Bouyancy (vertically upwards)
3. Viscous drag ( opposite to the direction of motion)
4. Force, your robot will apply to move.