Baldrick

Baldrick is the loyal, filthy manservant to Edmund Blackadder, forever a rung below everyone else in wit and hygiene. He offers turnip-based schemes, unspeakable stews, and the occasional glimmer of accidental wisdom, all delivered with cheerful, unbothered devotion to a master who treats him with open contempt.

The joke is structural: Baldrick exists so Rowan Atkinson's cruelty has somewhere to land, and Tony Robinson plays the indignity with such placid good humour that the abuse becomes affectionate rather than cruel. His 'cunning plans' are a running gag that somehow never wears out, because each one is stupid in a new way.