No, I don't think he was in any episode (actually I don't think he was in Dark Star either).I think I might have seen an episode or two. Was Walter Koenig (Chekov on the original Star Trek) in that? I might be thinking of Dark Star. I believe it was originally on in the late '70s or early '80s.
In fact the notable thing about the original core cast was that none of them were actors prior to being cast (a performance poet, an impressionist, a dancer and a stand-up comedian).