Discovered drama after accidentally walking onto a stage at a theater below a Harlem YMCA.
Began his stage career on Broadway in The Long Dream (1960).
Served as artist-in-residence at Brandeis University in 1966.
Best known for his role as the hip undercover cop Linc Hayes on the TV series The Mod Squad (1968-73).
Worked in a variety of genres, from comedy (I'm Gonna Git You Sucka; Half-Baked) to sci-fi (Star Trek: Deep Space Nine) and drama (Purple Rain, as Prince's father).
Looking back at his Purple Rain performance, he recalled with relish a moment between scenes, in which Prince "picked up the guitar and started doodling...I had my eyes closed...and I thought about Jimi Hendrix."
Uncredited film roles include Pork Chop Hill (1959) and American Gangster (2007).
1965, Tony — Actor, Supporting or Featured (Dramatic): Nominee