Who was cursed with slavery because his father saw his grandfather drunk and naked?

Canaan, the son of Ham (Noah's grandson)

Ham, the father of Canaan, saw the nakedness of his father ...

And Noah awoke from his wine, and knew what his younger son had done unto him.

And he said, Cursed be Canaan; a servant of servants shall he be unto his brethren. Genesis 9:22-25