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Futurama was created by Matt Groening, and developed jointly with David X. Cohen. Though, Groening had previously created , the most popular and long running animated sitcom ever. Thus, it is only natural that Futurama would include references to The Simpsons occasionally within the show (not to mention, owning the copyright means not having to license material). The Simpsons, too, has referenced Futurama many times. Following is a complete list of connections between Futurama and The Simpsons.

Crew
There have been a number of people who work on both The Simpsons and Futurama:

Voices

 * Dan Castellaneta: He has voiced many characters for The Simpsons, though he is best known as the voice of Homer Simpson (for a complete list see here), he has performed songs in 43 episodes and has written 4 episodes. He has voiced the Robot Devil in "Hell Is Other Robots", "The Devil's Hands Are Idle Playthings" (he also voiced the Snail) and The Beast with a Billion Backs, he also performed songs in the two episodes he appeared in.
 * Hank Azaria: He has voiced many characters for The Simpsons, (for a complete list see here), he has performed songs in 13 episodes and has appeared in many of the video games of The Simpsons. He voiced Harold Zoid in "That's Lobstertainment!".
 * Nancy Cartwright: She has voiced many characters for The Simpsons, though she is best known as the voice of Bart Simpson (for a complete list see here) and she has performed songs in 17 episodes. She was credited for a soundbyte of Bart Simpson's line "Eat my shorts!" which was said by a doll on the garbage meteor in "A Big Piece of Garbage".
 * Conan O'Brien: He has voiced himself in, written 4 episodes, producer for 48, supervising producer for 6 episodes and wrote the "Monorail Song" in in The Simpsons. He voiced himself in "Xmas Story" for Futurama.
 * Leonard Nimoy: He has voiced himelf in and  in The Simpsons. He has voiced himself in "Space Pilot 3000" and "Where No Fan Has Gone Before"
 * Stephen Hawking: He has voiced himelf in, and  in The Simpsons. He has voiced himself in "Anthology of Interest I" and The Beast with a Billion Backs
 * Frank Welker: He voiced Santa's Little Helper and other animals in 19 episodes of The Simpsons. He has done a couple of voices for Futurama, though he is best known for Nibbler.

Comics

 * Ian Boothby: He has written about 46 comics for The Simpsons. He has written 24 comics for Futurama, including all of The Simpsons crossovers.
 * Eric Rogers: He has penned about 8 comics for The Simpsons. He has penned 16 comics for Futurama.
 * Patric M. Verrone: He has written 4 comics for The Simpsons. He has written 4 comics for Futurama, as well as writing 7 episodes.
 * James Lloyd: He has drawn 19 comics for The Simpsons. He has drawn 15 comics for Futurama, including all of The Simpsons crossovers.
 * Mike Kazaleh: He has drawn 3 comics for The Simpsons. He has drawn 12 comics for Futurama, as well as being a layout artist for the series.
 * Bill Morrison: He was the co-founder for Bongo Comics and has been editor for all The Simpsons and Futurama comics.
 * Tom King: He has drawn 1 comic for The Simpsons. He has drawn 6 comics for Futurama, as well as being a layout artist for the series.
 * John Delany: He has drawn 13 comics for The Simpsons. He has drawn 11 comics for Futurama.

Other

 * Brian Sheesley: He was an animation timer for three episodes of The Simpsons in . He has directed nine episodes of Futurama.
 * David X. Cohen: He did music/lyrics for, was writer for 35 episodes, story editor for 25 episodes, co-producer for 27 episodes, supervising producer for 15 episodes, co-executive producer for 10 episodes, producer for 9 episodes, consulting producer for 2 episodes and executive producer for 2 episodes of The Simpsons. He developed and was executive producer for all episodes of Futurama, voiced The Die of Power in Bender's Game, Fan #2 for the reading of "Futurama Returns" and the Computer in "Love's Labours Lost in Space", did music/lyrics for "Xmas Story" and "The Problem with Popplers", voice director for "Futurama (video game)" and designed one of the robots in the robot strip club.

The Simpsons in Futurama
The Simpsons has appeared in Futurama on many occasions:

Futurama Simpsons Infinitely Secret Crossover Crisis
' '

The Simpsons Futurama Crossover Crisis II
' '

Other

 * Early versions of the characters in Futurama had five fingers to diferentiate from The Simpsons, but it looked weird and was changed. Poster Guy still retains the extra finger.
 * Matt Groening mocked The Simpsons commentaries in the commentary for "Love and Rocket" and says that Futurama commentaries are a lot more lively.
 * Both The Simpsons and Futurama have been nominated several times (up to 2004) for :
 * Neither "A Big Piece of Garbage" or won in.
 * Futurama wasn't nominated, while won in
 * "Amazon Women in the Mood" lost against in.
 * "Roswell That Ends Well" won against in.
 * "Jurassic Bark" lost against in.
 * Neither "The Sting" or in.
 * Fry's middle initial is J. This seems to be a popular choice for Matt Groening characters, having used it for Homer Simpson, Bart Simpson and Grampa on The Simpsons. Matt uses the "J." middle name, referring to one of his favourite shows,.
 * Some Futurama characters are similar to some The Simpsons characters:
 * Nine looks faintly similar to Homer.
 * Zapp Brannigan is semily based on as a tribute to . Phil Hartman was the voice of Troy McClure, and was also scheduled to be the voice of Zapp Brannigan until his untimely death. He was instead voiced by Billy West.
 * Horrible Gelatinous Blob, and his species Blobs, are similar to the re-recurring "Space Mutants" of The Simpsons.
 * Pazuzu beasr a resemblance to Mr Burns.
 * Both of the Anthology of Interest episodes (and to a lesser extent, the Comics) are similar in nature to The Simpsons.
 * Futurama, like The Simpsons, tends to poke fun at the . An example of such would be the Box Network.

Futurama in The Simpsons
Futurama has appeared in The Simpsons on several occasions:

Futurama had not yet premiered yet.

Futurama had been premiered by this time.