had composed many characters and storylines; Groening claimed they had "gone overboard" in their discussions. Groening described trying to get the show on the air as "by far the worst experience of [his] grown-up life". The show premiered on March 28, 1999. After four years on the air, the series was canceled by Fox. In a situation similar to the animated Family Guy, however, strong DVD sales and very stable ratings on Comedy Central brought Futurama back to life. When Comedy Central began negotiating for the rights to air Futurama reruns, Fox suggested that there was a possibility of also creating new episodes. When Comedy Central committed to sixteen new episodes, it was decided that four straight-to-DVD films—Bender's Big Score (2007), The Beast with a Billion Backs (2008), Bender's Game (2008) and Into the Wild Green Yonder (2009)—would be produced. Since no new Futurama projects were in production, the movie Into the Wild Green Yonder was designed to stand as the Futurama series finale. However, Groening had expressed a desire to continue the Futurama franchise in some form, including as a theatrical film. In an interview with CNN, Groening said that "we have a great relationship with Comedy Central and we would love to do more episodes for them, but I don't know... We're having discussions and there is some enthusiasm but I can't tell if it's just me." Comedy Central picked up the show for 26 new half-hour episodes that began airing in mid-2010. Cohen told Newsday in August 2009 that the reported 26-episode order means "[i]t will be up to 26. I can't guarantee it will be 26. But I think there's a pretty good chance it'll be exactly 26. Fox has been a little bit cagey about it, even internally. But nobody's too concerned. We're plunging ahead." Two episodes were in the process of being voice-recorded at that time, with an additional "six scripts ... in the works, ranging in scale from 'it's a crazy idea that someone's grandmother thought of' to 'it's all on paper'. ..."The first episode is tentatively titled 'Rebirth' — and in a surprisingly literal fashion, as things turn out". It aired June 24 on Comedy Central. Cohen designed one of the robots in the robot strip club which he said was "his one artistic contribution to the show". The robot's waist gyrated sexily using a planetary gear. In an episode's commentary, this