I used to watch a show when I was a kid (in the 90's) and it was played by puppets and the main character was blue and named Galileo. There was also a robot and a 2 headed guy that had one purple face and one green face... If anyone can help me I would really appreciate it this has been driving me crazy!

Could it be Groundling Marsh?

Groundling Marsh on TV.com (http://www.tv.com/groundling-marsh/show/15349/summary.html?tag=search_results;subtitle;7&q=Galileo)

YouTube - Groundling Marsh - Intro (http://www.youtube.com/watch?v=Rz-w5aasEDM)

Magentas castle maybe