| Season | Guest star | Role(s) | No. | Prod. code | Episode title |
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| 1 | Dick Clark | Himself | 001–101 | 1ACV01 | "Space Pilot 3000" |
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| 1 | Leonard Nimoy | Himself | 001–101 | 1ACV01 | "Space Pilot 3000" |
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| 1 | David X. Cohen (uncredited) | Computer | 004–104 | 1ACV04 | "Love's Labours Lost in Space" |
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| 1 | Pamela Anderson | Herself | 006–106 | 1ACV06 | "A Fishful of Dollars" |
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| 1 | Nancy Cartwright (archival, uncredited) | Bart Simpson doll | 008–108 | 1ACV08 | "A Big Piece of Garbage" |
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| 1 | Ron Popeil | Himself | 008–108 | 1ACV08 | "A Big Piece of Garbage" |
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| 1 | Dan Castellaneta | Robot Devil | 009–109 | 1ACV09 | "Hell Is Other Robots" |
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| 1 | Mike Diamond | Himself | 009–109 | 1ACV09 | "Hell Is Other Robots" |
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| 1 | Adam Horovitz | Himself | 009–109 | 1ACV09 | "Hell Is Other Robots" |
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| 1 | Pamela Anderson | Dixie | 013–113 | 1ACV13 | "Fry and the Slurm Factory" |
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| 2 | Claudia Schiffer | Herself | 016–203 | 2ACV03 | "A Head in the Polls" |
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| 2 | John Goodman | Robot Santa | 017–204 | 2ACV04 | "Xmas Story" |
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| 2 | Conan O'Brien | Himself | 017–204 | 2ACV04 | "Xmas Story" |
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| 2 | Bob Barker | Himself | 019–206 | 2ACV06 | "The Lesser of Two Evils" |
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| 2 | Rich Little | Himself | 021–208 | 2ACV08 | "Raging Bender" |
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| 2 | Russ Leatherman | Mr. Moviefone | 021–208 | 2ACV08 | "Raging Bender" |
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| 2 | Nora Dunn | Morgan Proctor | 024–211 | 2ACV11 | "How Hermes Requisitioned His Groove Back" |
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| 2 | Donovan | Himself | 025–212 | 2ACV12 | "The Deep South" |
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| 2 | Parker Posey | Umbriel | 025–212 | 2ACV12 | "The Deep South" |
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| 2 | Phil Hendrie | Free Waterfall Jr. | 028–215 | 2ACV15 | "The Problem with Popplers" |
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| 2 | Al Gore | Himself | 029–216 | 2ACV16 | "Anthology of Interest I" |
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| 2 | Gary Gygax | Himself | 029–216 | 2ACV16 | "Anthology of Interest I" |
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| 2 | Stephen Hawking | Himself | 029–216 | 2ACV16 | "Anthology of Interest I" |
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| 2 | Nichelle Nichols | Herself | 029–216 | 2ACV16 | "Anthology of Interest I" |
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| 2 | Todd Susman | P.A. Announcer | 030–217 | 2ACV17 | "War Is The H-Word" |
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| 2 | Pauly Shore | Himself | 032–219 | 2ACV19 | "The Cryonic Woman" |
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| 2 | Sarah Silverman | Michelle | 032–219 | 2ACV19 | "The Cryonic Woman" |
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| 3 | Bea Arthur | Femputer | 033–301 | 3ACV01 | "Amazon Women in the Mood" |
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| 3 | Karen Maruyama | Amazonian | 033–301 | 3ACV01 | "Amazon Women in the Mood" |
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| 3 | Suzie Plakson | Amazonian | 033–301 | 3ACV01 | "Amazon Women in the Mood" |
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| 3 | Coolio | Kwanzaabot | 035–303 | 3ACV03 | "A Tale of Two Santas" |
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| 3 | Phil Hendrie | Free Waterfall Sr. Old Man Waterfall | 037–305 | 3ACV05 | "The Birdbot of Ice-Catraz" |
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| 3 | Jan Hooks | Angleyne | 038–306 | 3ACV06 | "Bendless Love" |
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| 3 | Hank Azaria | Harold Zoid | 040–308 | 3ACV08 | "That's Lobstertainment!" |
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| 3 | Beck | Himself | 045–313 | 3ACV13 | "Bendin' in the Wind" |
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| 3 | Jeff Cesario | Marv Albert's head | 046–314 | 3ACV14 | "Time Keeps On Slippin'" |
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| 3 | Lucy Liu | Herself | 047–315 | 3ACV15 | "I Dated a Robot" |
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| 3 | Bob Uecker | Himself | 048–316 | 3ACV16 | "A Leela of Her Own" |
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| 3 | Hank Aaron | Himself Hank Aaron XXIV | 048–316 | 3ACV16 | "A Leela of Her Own" |
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| 4 | Sigourney Weaver | Female Planet Express Ship | 057–403 | 4ACV03 | "Love and Rocket" |
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| 4 | Lucy Liu | Herself | 057–403 | 4ACV03 | "Love and Rocket" |
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| 4 | Phil Hendrie | Old Man Waterfall Frida Waterfall | 059–405 | 4ACV05 | "A Taste of Freedom" |
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| 4 | Al Gore | Himself | 062–408 | 4ACV08 | "Crimes of the Hot" |
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| 4 | Bob Odenkirk | Chaz | 064–410 | 4ACV10 | "The Why of Fry" |
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| 4 | Jonathan Frakes | Himself | 065–411 | 4ACV11 | "Where No Fan Has Gone Before" |
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| 4 | Walter Koenig | Himself | 065–411 | 4ACV11 | "Where No Fan Has Gone Before" |
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| 4 | Nichelle Nichols | Herself | 065–411 | 4ACV11 | "Where No Fan Has Gone Before" |
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| 4 | Leonard Nimoy | Himself | 065–411 | 4ACV11 | "Where No Fan Has Gone Before" |
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| 4 | William Shatner | Himself | 065–411 | 4ACV11 | "Where No Fan Has Gone Before" |
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| 4 | George Takei | Himself | 065–411 | 4ACV11 | "Where No Fan Has Gone Before" |
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| 4 | Roseanne Barr | Herself | 070–416 | 4ACV16 | "Three Hundred Big Boys" |
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| 4 | Dan Castellaneta | Robot Devil Commercial Snail | 072–418 | 4ACV18 | "The Devil's Hands Are Idle Playthings" |
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| 5 | Al Gore | Himself | 074–502 | 5ACV02 | "Bender's Big Score: Part 2" |
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| 5 | Tom Kenny | Yancy Fry Jr. | 074–502 | 5ACV02 | "Bender's Big Score: Part 2" |
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| 5 | Sarah Silverman | Michelle | 074–502 | 5ACV02 | "Bender's Big Score: Part 2" |
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| 5 | Coolio | Kwanzaabot | 076–504 | 5ACV04 | "Bender's Big Score: Part 4" |
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| 5 | Al Gore | Himself | 076–504 | 5ACV04 | "Bender's Big Score: Part 4" |
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| 5 | Mark Hamill | Chanukah Zombie | 076–504 | 5ACV04 | "Bender's Big Score: Part 4" |
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| 5 | Brittany Murphy | Colleen O'Hallahan | 077–505 | 5ACV05 | "The Beast with a Billion Backs: Part 1" |
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| 5 | Stephen Hawking | Himself | 077–505 | 5ACV05 | "The Beast with a Billion Backs: Part 1" |
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| 5 | Brittany Murphy | Colleen O'Hallahan | 078–506 | 5ACV06 | "The Beast with a Billion Backs: Part 2" |
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| 5 | David Cross | Yivo | 079–507 | 5ACV07 | "The Beast with a Billion Backs: Part 3" |
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| 5 | Brittany Murphy | Colleen O'Hallahan | 079–507 | 5ACV07 | "The Beast with a Billion Backs: Part 3" |
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| 5 | Dan Castellaneta | Robot Devil | 080–508 | 5ACV08 | "The Beast with a Billion Backs: Part 4" |
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| 5 | David Cross | Yivo | 080–508 | 5ACV08 | "The Beast with a Billion Backs: Part 4" |
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| 5 | Brittany Murphy | Colleen O'Hallahan | 080–508 | 5ACV08 | "The Beast with a Billion Backs: Part 4" |
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| 5 | Rich Little | Himself | 081–509 | 5ACV09 | "Bender's Game: Part 1" |
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| 5 | George Takei | Himself | 081–509 | 5ACV09 | "Bender's Game: Part 1" |
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| 5 | Gary Gygax (archival) | Himself | 084–512 | 5ACV12 | "Bender's Game: Part 4" |
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| 5 | Phil Hendrie | Frida Waterfall Hutch Waterfall | 085–513 | 5ACV13 | "Into the Wild Green Yonder: Part 1" |
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| 5 | Penn Jillette | Himself | 085–513 | 5ACV13 | "Into the Wild Green Yonder: Part 1" |
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| 5 | Seth MacFarlane | Mars Vegas Singer | 085–513 | 5ACV13 | "Into the Wild Green Yonder: Part 1" |
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| 5 | Teller (credited although he has no speaking role) | Himself | 085–513 | 5ACV13 | "Into the Wild Green Yonder: Part 1" |
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| 5 | Phil Hendrie | Frida Waterfall Hutch Waterfall | 086–514 | 5ACV14 | "Into the Wild Green Yonder: Part 2" |
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| 5 | Phil Hendrie | Frida Waterfall Hutch Waterfall | 087–515 | 5ACV15 | "Into the Wild Green Yonder: Part 3" |
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| 5 | Snoop Dogg | Himself | 088–516 | 5ACV16 | "Into the Wild Green Yonder: Part 4" |
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| 5 | Phil Hendrie | Frida Waterfall The Encyclopod | 088–516 | 5ACV16 | "Into the Wild Green Yonder: Part 4" |
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| 6 | Chris Elliott | V-Giny | 090–602 | 6ACV02 | "In-A-Gadda-Da-Leela" |
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| 6 | Craig Ferguson | Susan Boil | 091–603 | 6ACV03 | "Attack of the Killer App" |
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| 6 | George Takei | Himself | 092–604 | 6ACV04 | "Proposition Infinity" |
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| 6 | Sergio Aragonés | Himself | 099–611 | 6ACV11 | "Lrrreconcilable Ndndifferences" |
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| 6 | David X. Cohen | Himself | 099–611 | 6ACV11 | "Lrrreconcilable Ndndifferences" |
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| 6 | Matt Groening | Himself | 099–611 | 6ACV11 | "Lrrreconcilable Ndndifferences" |
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| 6 | Katee Sackhoff | Grrrl | 099–611 | 6ACV11 | "Lrrreconcilable Ndndifferences" |
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| 6 | Mark Mothersbaugh | Himself | 100–612 | 6ACV12 | "The Mutants Are Revolting" |
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| 6 | Coolio | Kwanzaabot | 101–613 | 6ACV13 | "The Futurama Holiday Spectacular" |
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| 6 | Al Gore | Himself | 101–613 | 6ACV13 | "The Futurama Holiday Spectacular" |
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| 6 | Dan Vebber | Norwegian Seed Guard | 101–613 | 6ACV13 | "The Futurama Holiday Spectacular" |
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| 6 | Patton Oswalt | Giant Unattractive Monster | 105–617 | 6ACV17 | "Benderama" |
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| 6 | Dan Castellaneta | Robot Devil | 107–619 | 6ACV19 | "Ghost in the Machines" |
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| 6 | Tom Kenny | Abner Doubledeal | 109–621 | 6ACV21 | "Yo Leela Leela" |
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| 6 | Eric Rogers (uncredited) | Popular Slut Club Singer | 109–621 | 6ACV21 | "Yo Leela Leela" |
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| 6 | Buzz Aldrin | Himself | 112–624 | 6ACV24 | "Cold Warriors" |
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| 6 | Tom Kenny | Yancy Fry Jr. | 112–624 | 6ACV24 | "Cold Warriors" |
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| 6 | Stephen Hawking | Himself | 114–626 | 6ACV26 | "Reincarnation" |
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| 7 | Wanda Sykes | Bev | 115–701 | 7ACV01 | "The Bots and the Bees" |
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| 7 | George Takei | Himself | 119–705 | 7ACV05 | "Zapp Dingbat" |
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| 7 | Tom Kenny | Abner Doubledeal | 120–706 | 7ACV06 | "The Butterjunk Effect" |
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| 7 | Jill Talley | Trainer | 120–706 | 7ACV06 | "The Butterjunk Effect" |
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| 7 | Dan Castellaneta | Robot Devil | 121–707 | 7ACV07 | "The Six Million Dollar Mon" |
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| 7 | Tom Kenny | Robot | 123–709 | 7ACV09 | "Free Will Hunting" |
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| 7 | Estelle Harris | Velma Farnsworth | 124–710 | 7ACV10 | "Near-Death Wish" |
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| 7 | Patrick Stewart | Fox Huntmaster | 125–711 | 7ACV11 | "31st Century Fox" |
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| 7 | Larry Bird | Himself | 133–719 | 7ACV19 | "Saturday Morning Fun Pit" |
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| 7 | George Takei | Himself | 133–719 | 7ACV19 | "Saturday Morning Fun Pit" |
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| 7 | Dan Castellaneta | Robot Devil | 134–720 | 7ACV20 | "Calculon 2.0" |
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| 7 | Robert Wagner | Himself | 134–720 | 7ACV20 | "Calculon 2.0" |
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| 7 | Burt Ward | Himself | 136–722 | 7ACV22 | "Leela and the Genestalk" |
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| 7 | Adam West | Himself | 136–722 | 7ACV22 | "Leela and the Genestalk" |
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| 7 | Tom Kenny | Yancy Fry Jr. | 137–723 | 7ACV23 | "Game of Tones" |
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| 7 | Seth MacFarlane | Seymour | 137–723 | 7ACV23 | "Game of Tones" |
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| 7 | Sarah Silverman | Michelle | 137–723 | 7ACV23 | "Game of Tones" |
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| 7 | Emilia Clarke | Marianne | 139–725 | 7ACV25 | "Stench and Stenchibility" |
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| 7 | Tara Strong | Tonya | 139–725 | 7ACV25 | "Stench and Stenchibility" |
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| 8 | Dan Castellaneta | Robot Devil | 141–801 | 8ACV01 | "The Impossible Stream" |
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| 8 | Brad Norman | PC | 141–801 | 8ACV01 | "The Impossible Stream" |
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| 8 | Patric M. Verrone | All My Circuits Writer | 141–801 | 8ACV01 | "The Impossible Stream" |
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| 8 | Ego Nwodim | Dung Beetle Shaman | 144–804 | 8ACV04 | "Parasites Regained" |
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| 8 | Kyle MacLachlan | Dung Beetle Majordomo | 144–804 | 8ACV04 | "Parasites Regained" |
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| 8 | Al Gore | Himself | 145–805 | 8ACV05 | "Related to Items You've Viewed" |
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| 8 | Coolio | Kwanzaabot | 146–806 | 8ACV06 | "I Know What You Did Next Xmas" |
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| 8 | Mark Hamill | Chanukah Zombie | 146–806 | 8ACV06 | "I Know What You Did Next Xmas" |
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| 8 | Bill Nye | Himself | 147–807 | 8ACV07 | "Rage Against the Vaccine" |
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| 8 | Kathy Griffin | Captain Cranky | 148–808 | 8ACV08 | "Zapp Gets Canceled" |
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| 9 | Danny Trejo | Doblando | 151–901 | 9ACV01 | "The One Amigo" |
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| 9 | Renée Victor | Abuelatron Pottery Bot | 151–901 | 9ACV01 | "The One Amigo" |
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| 9 | Carlos Alazraqui | Referee Bot | 151–901 | 9ACV01 | "The One Amigo" |
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| 9 | Gabriel Romero | Ancient Emperor | 151–901 | 9ACV01 | "The One Amigo" |
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| 9 | Diana Elizabeth Torres | Ancient Empress Bender's Niece | 151–901 | 9ACV01 | "The One Amigo" |
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| 9 | Ana Ortiz | Marquita | 154–904 | 9ACV04 | "Beauty and the Bug" |
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| 9 | Bill Nye | Himself | 156–906 | 9ACV06 | "Attack of the Clothes" |
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| 9 | Tim Gunn | Himself | 156–906 | 9ACV06 | "Attack of the Clothes" |
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| 9 | Aleque Reid | Umbriel | 156–906 | 9ACV06 | "Attack of the Clothes" |
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| 9 | Kyle MacLachlan | Himself | 157–907 | 9ACV07 | "Planet Espresso" |
|---|
| 9 | Zuri Washington | Jamaican Woman | 157–907 | 9ACV07 | "Planet Espresso" |
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| 9 | LeVar Burton | Himself | 159–909 | 9ACV09 | "The Futurama Mystery Liberry" |
|---|
| 9 | Neil deGrasse Tyson | Himself | 159–909 | 9ACV09 | "The Futurama Mystery Liberry" |
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| 10 | Dan Castellaneta | Robot Devil | 161–1001 | AACV01 | "Destroy Tall Monsters" |
|---|
| 10 | Guillermo del Toro | Himself | 161–1001 | AACV01 | "Destroy Tall Monsters" |
|---|
| 10 | Victor Wembanyama | Himself | 161–1001 | AACV01 | "Destroy Tall Monsters" |
|---|
| 10 | Bill Nye | Himself | 162–1002 | AACV02 | "The World is Hot Enough" |
|---|
| 10 | Kenny G | Himself | 163–1003 | AACV03 | "Fifty Shades of Green" |
|---|
| 10 | Ravi Patel | Ipgee | 163–1003 | AACV03 | "Fifty Shades of Green" |
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| 10 | Danica McKellar | Herself | 164–1004 | AACV04 | "The Numberland Gap" |
|---|
| 10 | Phil Hendrie | Grovestick Waterfall Bliss Waterfall Waterfall Kids | 165–1005 | AACV05 | "Scared Screenless" |
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| 10 | Maria Bamford | Jambone | 169–1009 | AACV09 | "The Trouble with Truffles" |
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