Rigel, who is a muppet but that is just to fool you -- he is not cute. He is mean,

Rigel is the Anti-Kermit.

And you didn't mention Pilot, who is *adorable*, for a value of adorable that includes giant, four-armed alien Muppets. And his voice actor is Lani John Tupu -- who also plays Capt. Crais, if you hadn't realized that by reading the credits yet.

I love how Farscape managed to make alien worlds a lot more alien than Star Trek did, by the clever use of Muppets, body paint, and non-Western material culture like clothing and hair-styling.