Bobby Rogers, the founder of Smokey Robinson's backing band The Miracles, has died, aged 73.

The soul man died at his home in Michigan on Sunday morning (03Mar13), following a lengthy illness.

Rogers founded The Miracles in 1956 with Pete Moore, Ronnie White, Robinson and his cousin Claudette Rogers.

He scored a string of Motown hits with the band, including I Second That Emotion and The Tears of a Clown.

He was inducted into the Rock and Roll Hall of Fame as part of The Miracles last year (12).

Rogers also co-wrote hits for The Temptations with Robinson.