Emmy-winning actor Richard Mulligan, best known for his role as quirky Burt on Soap, died Tuesday in his Los Angeles home after a long battle with colon cancer. He was 67. Mulligan also starred in the NBC sitcom Empty Nest, a spinoff of The Golden Girls, which ran from 1988 to 1995. Although the actor was married five times, he was single at the time of his death. He is survived by his son, James, and brothers Robert and James Mulligan.