You can probably source most of the gears from SDP-SI, WM Berg, or Amazon Supply(Small Parts inc).
The drive mount you would have to manufacture yourself.
But it looks likeas simple bevel cut on a large diameter rod.
Ad you probably want some bearings in that cross mount on top of that bevel.
Festo makes a variety of bio-engineered robotics.
Air fish, air ray, air penguin, the Smart Bird, and the aquatic version of
the fish, ray and the penguin.