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This is going to be a very vague description I am afraid.

The show in question was a whodunnit. Each episode was a murder / mystery where a very stylised alien robot killed or committed some other crime against other highly stylised alien robots. I think it was animated, but it might just have been a motion-comic type thing. There were various clues at the start of the show, I think a couple of theories about what might have happened and then the culprit was revealed. It was on late afternoons / early evening on BBC, I think.

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up vote 5 down vote accepted

It's Captain Zep - Space Detective, shown from 1983 to 1984.

Captain Zep and his crew

It was shown in front of an audience who also had to work out the whodunit.

Audience with 80s sci-fi clothes.

The aliens were drawings with which the live actors interacted.

Crew meeting an "alien"

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Wow. I thought I knew Hokey... but THIS is Hokey. Hello, Hokey. – Omegacron Feb 10 '15 at 22:26
@Omegacron: it was terrible at the time... Now it has worsened with age... – Wikis Feb 11 '15 at 5:48

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