This cartoon has a cast of eight characters. Zandar, protector of the planet Quasar; his wife Tara; Dorno his son; and five denizens of the planet called the Herculoids. They are Igoo the rock ape, Tundro the the eight legged rhinotriceritops, Zok the dragon, who has lasers emit from his eyes and tail, and last (but no way least) two Protoplastic creatures named Gloop and Gleep.
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Ready to Watch Space Stars, Season 1, Episode 14?