It is possible, and I have been asked for this customization many times.

While it might seem acceptable to add a tab to the Customer form view and list the Delivery Orders there, OpenERP has moved away from having 1 to many relationshiops shown this way (prefering a full screen to show lists of items because full search, filtering, grouping and sorting capabilities are supported).

A good approach is to create a new Window Action to define the list view, and add a button to the Form view.

Something like:

<record id="action_customer_deliveries" model="ir.actions.act_window">
  <field name="name">Delivery Orders</field>
  <field name="res_model">stock.picking.out</field>
  <field name="type">ir.actions.act_window</field>
  <field name="view_type">form</field>
  <field name="view_mode">tree,form,calendar</field>
  <field name="domain">[('type','=','out')]</field>
  <field name="context">{'search_default_partner_id': active_id}</field>
  <field name="search_view_id" ref="stock.view_picking_out_search"/>
  <field name="help" type="html">
    <p class="oe_view_nocontent_create">
     Click to create a delivery order. 
    </p>
    <p>
     This is the list of all delivery orders that have to be
     prepared, according to your different sales orders and your
     logistics rules.
    </p>
  </field>
</record>

<record model="ir.ui.view" id="res_partner_view_buttons2">
  <field name="name">res.partner.view.buttons2</field>
  <field name="model">res.partner</field>
  <field name="inherit_id" ref="base.view_partner_form" />
  <field name="arch" type="xml">
    <xpath expr="//div[@name='buttons']" position="inside">
      <button type="action" string="Delivery Orders" 
           attrs="{'invisible': [('customer', '=', False)]}" 
           name="%(module_name.action_partner_deliveries)d" 
           context="{'search_default_partner_id': active_id}"/> 
    </xpath>
  </field>
</record>

This shows up as a button like this:

Which when clicked, shows all orders for that Customer: