All music (that is, any music that doesn’t require a license, such as Walking on sunshine ) in Futurama is written by Chris Tyng. He’s a multi-instrumentalist , but his first instruments are drums and percussions, so a lot of the different Futurama rhythms are composed by various odd percussion instruments.
If you check out the commentary tracks on the season 2 dvd box, Chris Tyng will drop some of the names of the instruments. If I’m not mistaken, it’s in the episode The Problem with Popplers.
By the way, I nominate the Simpsons and fully agree with Cowboy Bebop