Motown star Bobby Rogers has died.

The singer - a founding member of The Miracles with Smokey Robinson, Claudette Rogers, Pete Moore and Ronnie White in 1956 - passed away at his home in Detroit, Michigan, aged 73, after a long battle with an undisclosed illness.

Claudette, Bobby' cousin, told the Detroit Free Press newspaper: ''He had a sparkling personality that was loved by everyone. People always commented on the tall one with the glasses.

''He was personable, approachable and he loved talking to the women, loved talking to the guys, loved to dance, loved to sing, loved to perform. That was the joy of his life.''

Bobby can be heard on The Miracles' biggest hits, including 'The Tears Of A Clown', 'I Second That Emotion' and 'Tracks Of My Tears'.

He was also a songwriter, penning The Temptations' 'The Way You Do the Things You Do' and The Contours' 'First I Look at the Purse' with Smokey.

One of Bobby' most prominent vocal contributions with The Miracles is his two-part harmony with Smokey on 'You've Really Got a Hold on Me', which was later covered by The Beatles.

Bobby can also be heard in the background of Marvin Gaye's 'What's Going On', saying: ''It's just a groovy party, man, I can dig it.''

Referring to that recording, Mary Wilson of The Supremes said: ''If people want to remember Bobby, they should put that record on and listen. That's who he was.''

The Miracles broke up in the 70s when Smokey went solo, but were

inducted into the Rock 'n' Roll Hall of Fame in 2012, although Bobby was too ill to attend. However, he had previously been on hand when the group were awarded a star on the Hollywood Walk of Fame in 2009.