R&B and jazz bassist whose song "You Can't Sit Down" sold over one million copies and received a gold disc.
He started playing professionally with groups like The Spaniels before working with artists like Curtis Mayfield.
He led his own quartet in the 1970s, which featured Quincy Jones, among others.
Sonya Maddox is his seventh wife and Sean Rickman is his son.
He recorded with a diverse group of artists in the 1980s, including Michael Jackson.