I've rewatched most of this on Netflix recently. I forgot how good and imaginative it was. I'll give it overall maybe a 4/5. Brian Henson definitely inherited his dad's puppeteering skills (or at least his people). I totally buy the puppets as real--far more so than CGI characters. Speaking of that, the cgi moments can be a little too clean (but this is 1999, after all). I love the unique characters on the show. I love the bickering amongst the cast.
It only gets a 4, though, because the writers seem to be all over the map on the character interactions (yeah, the ones I just praised). One episode they all seem to like, or at least tolerate, one another, and on the next they practically hate each other for no reason. Also, I expected a little more imagination in the breadth of alien species from Henson, but most look human. Though kudos on the creepy eye work. Maybe it's intentional (it probably is), but I hate how Crichton solves the mystery of the week like every episode, yet they still call him stupid and inferior.
Overall, if you haven't seen it, give it a go. If you have, it's worth a re-watch 11 years later. I watched it the first time around, but I found I hadn't committed any of it to memory, so it was like an all new show.
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Also, I would totally do Aeryn and Chiana. Especially Chiana.
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(For those who've never seen Gigi out of makeup:
http://files.splinder.com/8f3637d0506b852c51eedc26a43a3b5f.jpeg)