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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, who plays Homer Simpson (among others) on the Simpsons, played the Robot Devil on Futurama
 * Nancy Cartwright 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
 * Stephen Hawking has appeared on both shows, playing himself.
 * Frank Welker, who plays Nibbler and many other animals on Futurama, has also played many animals on the Simpsons, including Santa's Little Helper.
 * Tress MacNeille who voices characters such as Hattie McDoogal and Ndnd also plays Agnes Skinner and Jimbo Jones on the Simpsons.
 * Hank Azaria who voices characters such as Chief Wiggum and Moe Szyslak also voiced the character of Harold Zoid.

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

Season 1
' ' ' ' ' ' ' ' ' ' ' ' 
 * , the Three-Eyed Fish, from The Simpsons makes a brief appearance in an underwater section of tube-way Fry travels through.
 * Bart Simpson dolls appear on the garbage meteor.
 * Bart and Homer dolls are prizes near Coney Island Community College.

Season 2
' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' 

Season 3
' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' '

Season 4
' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' '
 * Among the parts of parade balloons, used in creating the hot air balloon that returns to the surface, is a balloon.

Films
' ' ' '
 * Disco Stu is seen in the crowd.

Comics

 * On the cover, is seen and Fry, Bender, Leela and Amy are on the couch, seen in the

Futurama Simpsons Infinitely Secret Crossover Crisis
' '

The Simpsons Futurama Crossover Crisis II
' '

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.

' ' ' ' Bart Simpson's Treehouse of Horror Heebie-Jeebie Hullabaloo The Simpsons Holiday Humdinger Simpsons Winter Wing Ding Free Comic Book Day
 * In #84, on the cover the hair of Leela and Fry can be seen.
 * In #85, there is a cameo appearance by Bender on the cover of the "Corporate Annual Reports" of Bongo.
 * In #95, Homer (nearly) exclaims "Bite my shiny metal ass", Bender's phrase.
 * In #99, there is a cameo appearance by Bender.
 * In #100, there is a cameo appearance by Bender and "Monkey Sea, Monkey Doom!'s" cover appears in a pile of comic books.
 * In #128, Bender appears on one of the TV channels.
 * In #145, there is a comic book entitled "Anthology of Interest" with a a Bender-like robot on the cover.
 * In #14, Space Boy in Outer Space and "Fry Me to the Moon" appear on the front cover on the back cover of the comic that Homer is reading.
 * In #25, someone wants to sell Bart a Futurama comic in bad condition.
 * In #31, there is a cameo appearance by Bender at the Bi-Mon-Sci-Fi-Con.
 * In #5, there is a head inside a jar and Mr Burns is holding a head similar to that of Bender.
 * In #7, Fry is seen in the crowd of people on the last panel.
 * In #7, the Sea Monkeys are similar to those seen in "Monkey Sea, Monkey Doom!".
 * Dr Crab is similar to Zoidberg.
 * In #6, the Planet Express crew appear at the end of this comic.
 * are in the office of Matt Groening, surrounded by all kinds of articles from The Simpsons, along with a poster of Bender and the Planet Express ship hanging from the ceiling.
 * There is a toy of Robot Santa Claus when Comic Book Guy is daydreaming of being Santa.
 * There is a toy of Robot Santa Claus in this comic.
 * Both promotional images can be seen with a Futurama comic. These are "The Owner of Mars Attacks!" and "The Time Bender Trilogy: Part 3".

Other

 * In "Comic Book Guy's Book of Pop Culture", "Bite my shiny metal ass" appears in his personal greatest quotes of all time and a "Bender blender" appears in his best apartment ever.