Hey, do u know this cartoon show?

I remember watching it way back when I was younger. In the story, there is a father and a son that go to other planets to have an adventure. The father walks upright while his son doesn't for he has six feet(I think). Then I remember that they go to other planets door their divan, bank on a rope(something like that). At the end of every episode they always get ready for bed.

That's all I can remember. Can u give me the title?

P.S. Sorry if u can't picture my description.
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