Return to the Planet of the Apes Episode 12 Invasion of the Underdwellers

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Return to the Planet of the Apes is a 1975–1976 animated TV series about astronauts who end up in a future where apes rule and humans are treated as inferiors. The show is based on the novel La planète des singes by Pierre Boulle.
Plot:
Three astronauts are caught in a time vortex and end up in 3979 AD
They discover that apes are the dominant species and humans are treated as pets, servants, and sport
The astronauts try to protect the humans from the apes
Production:
Created by David H. DePatie and Friz Freleng
Directed and co-produced by Doug Wildey, who also created Jonny Quest
Stars Austin Stoker, Philippa Harris, and Henry Corden
Features:
The apes have a technological civilization with automobiles, television, and radio
The apes are more advanced than in the films and live-action series
The show has a continuous storyline, rather than each episode being self-contained