Clarice Taylor, best known as Bill Cosby’s mom on The Cosby Show died due to heart failure on Monday, according to People.com.

The actress’ career spanned five decades and Taylor worked on stage, in radio and television. She was a member of the Negro Ensemble Group in the 1960s, the New York-based stage group that helped to launch the careers of many African-American actors.

On stage Taylor played the role of “Addaperle”, The Good Witch of the North in the musical, The Wiz. And years later she played Moms Mabley in the off Broadway play, Moms.

But her small screen work as kin to popular TV characters remains some of the most memorable in her career. The seasoned actress was nominated for an Emmy for her role as “Anna Huxtable,” mother to Cliff Huxtable on The Cosby Show. She launched her career playing another grandmother, “Harriet” to the character David on the long-running children series Sesame Street. And she also portrayed Grady’s “Cousin Emma” on Sanford and Son.

Taylor is survived by her sons William and James and her five grandchildren.

(Photo: G. Paul Burnett/AP)