Abstract: The present invention relates to a mobile robot having a base element and a torso being arranged on the mobile base element, the torso comprising at least two manipulators, which comprise a proximal base and a distal free end, wherein the manipulators with their proximal base are arranged to both sides of the torso and opposite to each other and wherein the proximal base of the manipulators is moveably guided in the torso.

Abstract: The invention concerns a metering gear pump comprising a set of gears supported and guided solely by the inner peripheral surface of the lobe of the chamber wherein they are housed. They do not comprise any shaft to act as support or guide, thereby enabling to reduce significantly useless spaced difficult to rinse when changing the product to be pumped. For the same purpose, the driving shaft is flexibly connected to the driving gear. Such arrangement provides the advantage of requiring only one single packing seal. Such a pump, connected to a drive motor and an encoder delivering a signal proportional to the number of pump cycles, enables to provide an accurate metering pump for numerous uses.