Two of television's most famous roommates, Bert and Ernie, were the only muppets created by Jim Henson to appear in the pilot episode of "Sesame Street" 40 years ago. Ernie was originally performed by Henson and his affectionate song about his squeaky toy duck, "Rubber Duckie," became a modest hit, reaching No. 16 on the Billboard chart. Bert's friendship with a pigeon named Bernice spawned the dance, "Doin' the Pigeon." Here are some of the other famous faces that have appeared on "Sesame Street" in the past four decades. (TM and © 2009 Sesame Workshop. All Rights Reserved. )