It is established here Does Springfield still exist in the Futurama future? that the Simpsons is a show in the Futurama universe.
Is it live-action or animated ?
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Sign up to join this communityIt is established here Does Springfield still exist in the Futurama future? that the Simpsons is a show in the Futurama universe.
Is it live-action or animated ?
This was answered in the Futurama live event (see at 29:18) :
Matt Groening said they are cartoon.
There is no reason to think that it is any different than it is in our universe, in fact as far as I know in Futurama all of 20th century pop-culture is identical to real 20th century pop-culture; this is a key point of the show: comparing the real 20th century to the fictitious 31st century.
Also consistent with it being a cartoon is the fact that the Bart Simpson dolls in A Big Piece of Garbage
have the same voice and appearance as our version of Bart Simpson.
I have just seen the episode where a ball of garbage sent in the space twentieth century risks falling back on New New York after one thousand years or so journey in the galaxy. Our heroes are sent to the garbage "asteroid" with a bomb, in order to blow it up, Fry finds a pile of Bart Simpson's puppets and recognizes him. Clearly the Simpsons have been a popular show in Futurama universe.
It was answered by the creators here at time 19:20!
Unfortunately, this link is now broken. If anyone can supply a working link to the video, please edit.
Luckily, I have preserved the relevant quote. (This is why link-only answers are frowned upon.)
Matt Groening: The Simpsons are a cartoon. They're a cartoon! Yes! Futurama is real. Come on! The Simpsons are yellow.