Random office conversation today started at the Matrix and went to Dr Who then Star Wars then to the Dark Crystal. That triggered a vague memory of an episode of the Russell Harty Show which I saw go out live where Jim Henson and Frank Oz were interviewed and I was sure that some of the actual creatures from the film came on stage and proper freaked the audience out. Surely I had made this up!
So I searched YouTube and there it was!
The final few moments where the creature smashed through the set and runs at the front row was the thing I remembered the most.