Kif Gets Knocked Up a Notch - S5-E5
Corrected entry: When they are all in the thing that spins them around to see who will be the father/mother of the baby, Zoidberg is not in the machine, but somehow he flies out.
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Correction: This is explained very clearly in the episode. When Zoidberg is ejected the Professor asks him what he was doing in there and Zoidberg answers: "That's where I live. I have no home." So Zoidberg was already in the machine before the others enter. (Probably hiding under the grated floor.)
Andreas[DK]