1955-1965, Sam & Friends1962, Tales of the Tinkerdee
1965-1968, Ed Sullivan Show1968-1970, Sesame Street
1970-1976, Sesame Street1976-1978, Sesame Street & The Muppet Show
1978-1981, The Muppet Movie1981-1982, The Great Muppet Caper
1982-1990, The Muppets Take Manhattan2005-present, performed by Steve Whitmire (current Disney puppet)