There's a breakdown of the samples used in the Futurama theme song here:
https://www.youtube.com/watch?v=qoq5-bLYM5QI'm not sure if it's completely accurate (if only Christopher Tyng could confirm!) but it seems plausible, at least.
Samples identified are:
Amen Break
Rapper's Delight
Psyche Rock
It's the last of the three that doesn't quite match up with the actual theme song, though there could well have been some extra post-processing done on it that wasn't included in the youtube version. I recall from one of the commentaries that Tyng used unusual bells in the opening - I wonder if that's what's being heard instead of the Psyche Rock song. Wiki has
this to say:
The theme is played on the tubular bells but is occasionally remixed for use in specific episodes, including a version by the Beastie Boys used for the episode "Hell Is Other Robots", in which they guest starred.[44] The theme also samples a drum break originating from "Amen, Brother" by American soul group The Winstons; however, the drum break is replaced in Season 6. A remixed rendition of the theme is used in Season 5, which features altered instruments and a lower pitch. Season 6 also uses this remix, but it has been reduced again in pitch and tempo. The theme has been noted for its similarities to Pierre Henry's 1967 Psyché Rock.[48]