People always commented on the tall one with the glasses

Roger's cousin Claudette told the Detroit Free Press that everyone was drawn to his personality.

"People always commented on the tall one with the glasses," she said. "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."

His voice can be heard on Marvin Gaye's "What's Going On," with Rogers saying, "It's just a groovy party, man, I can dig it." Mary Wilson of the Supremes said that captured his essence.

"If people want to remember him, they should put that record on and listen to Bobby," Wilson told the newspaper. "That's who he was."

Rogers and The Miracles were inducted into the Rock and Roll Hall of Fame in 2012. He was too ill to attend the ceremony.

He shared songwriting credits with Robinson on The Temptations' "The Way You Do the Things You Do," The Contours' "First I Look at the Purse" and The Miracles' "Going to a Go-Go."

Funeral arrangements through James H. Cole Home for Funerals in Detroit were incomplete Sunday afternoon.