Members of the musical group The Miracles (from left), Smokey Robinson, Pete Moore, Claudette Robinson and Bobby Rogers, were honoured with a star on the Hollywood Walk of Fame in 2009. Founding member Rogers has died.

Bobby Rogers, a founding member of Motown group The Miracles and a collaborator with Smokey Robinson, has died. He was 73.

Motown Museum board member Allen Rawls says Rogers died Sunday morning at his home.

Rogers had been ill for several years. He lived in the Detroit suburb of Southfield.

Rogers formed the group in 1956 with cousin Claudette Rogers, Pete Moore, Ronnie White and Robinson. Their hits included I Second That Emotion and The Tears of a Clown. Rogers and The Miracles were inducted into the Rock and Roll Hall of Fame in 2012..