Richard Anderson  has died at the age of 91. The actor was best known for his portrayal of Oscar Goldman on The Six Million Dollar Man and its spin-off The Bionic Woman.

Family spokesman Jonathan Taylor said Anderson died of natural causes at home in Beverly Hills.

The Six Million Dollar Man was an iconic character in the 1970s. The premise of the show was that U.S. Astronaut Steve Austin is rebuilt with robotic parts after a crash that should have killed him. His pre-Tony Starks body had atom-powered artificial limbs which gave him superhuman strength, speed and other powers.

Austin reported in to Oscar Goldman, who was played by Anderson.

The show was a huge hit and a spin-off was done in 1976. Anderson continued his role on The Bionic Woman, who was played by Lindsay Wagner.

In all, Anderson had over 130 screen credits to his name, including other TV shows like Gunsmoke, Hawaii Five-O, Dynasty, Dan August, Perry Mason, The Fugitive, Charlie’s Angels, The A-Team, The Man from U.N.C.L.E., Bonanza, Ironside, Daniel Boone and Murder, She Wrote.

His costars have spoken out on his loss. Wagner told Deadline, “I can’t begin to say how much I have always admired and have been grateful for the elegance and loving friendship I was blessed to have with Richard Anderson. He will be greatly missed.”

Richardson is survived by daughters Ashley, Brooke and Deva.

"Our dad was always there for us and showed us by loving example how to live a full and rich life with gratitude, grace, humor and fun," Ashley said.