Thesp Robert Urich dies at 55 Durable TV actor starred in at least 17 series Robert Urich, popular TV actor since the early 1970s whose good looks, easygoing charm and solid acting made him a ubiquitous presence on numerous shows and TV series including "Vega$" and "Spenser: For Hire," died Tuesday of cancer at a hospital in Thousand Oaks, California, surrounded by family members and friends, publicist Cindy Guagenti said. He was 55. Urich had been diagnosed with cancer in 1996 at the time he was starring in the TV series "The Lazarus Man." The cancer went into remission and he resumed his active career until the cancer returned earlier this year. Since Urich burst upon the scene in the early 1970s, he never seemed to be out of work: Within 30 years, he starred in at least 17 series, as well as features, telefilms and miniseries. Usually he portrayed characters who were able to rise to the occasion. His durability and popularity with TV viewers were legend; the Los Angeles Times referred to him in 1993 as the "Teflon Television Man." Born Dec. 19, 1946 in Toronto, Ohio, he attended Florida State U. on a four-year football scholarship where he excelled as a defensive lineman. While working as an account exec at WGN radio in Chicago, he worked one night as an actor for a local Jewish Bond drive and found his career path. WGN later dismissed him when it was discovered he was moonlighting as an actor. He made his stage debut in a community theater production of "Lovers and Other Strangers" as well as a Chicago production of "The Rainmaker" before catching the attention of a talent scout and relocating to Los Angeles. In 1973 he made his TV debut in the short-lived series "Bob & Carol & Ted & Alice," playing Bob. That same year, he played one of the bad cops in the Clint Eastwood starrer "Magnum Force." His feature career also included "Turk 182" and "Ice Pirates." But he was mostly a television star, thanks to his series, longforms, and guest appearances on episodic TV and even infomercials. His career really began to take off when he co-starred in the ABC police series "S.W.A.T.," which ran during the 1975-76 seasons. His popularity grew when he had a recurring role as a tennis instructor and gigolo on the very popular ABC series "Soap" in 1977. Following a stint where he starred opposite Lisa Hartman in the short-lived ABC sitcom "Tabitha" (1977-78), he became a major TV star when he starred as Dan Tanna in the popular ABC TV series "Vega$," which ran from 1978 until 1981. From 1985-1988 he was back on primetime starring in "Spenser: For Hire," in which he portrayed the Boston-based detective from the novels by Robert B. Parker. Later he starred in several telefilms based on the character. Additional TV credits included "American Dreamer" (1990-91), host duties on "National Geographic Explorer" (1991-94), "Crossroads" (1992-93) and "It Had Had to Be You" (1993) co-starring with Faye Dunaway. Most recently, he starred in the 2002 telfilm "The President's Man: A Line in the Sand." His miniseries credits include "Princess Daisy," "Lonesome Dove" and "Amerika." Urich garnered a Daytime Emmy for historical programming for "U-Boats; Terror on Our Shores" episode of "National Geographic Explorer" and won a CableACE award for magazine show host for "National Geographic Explorer" in 1992. He received a star on the Hollywood Walk of Fame in 1995 and that same year returned to network TV starring in "The Lazarus Man." The following year he announced he was suffering from a rare form of cancer (synovial sarcoma) and would undergo chemotherapy. In 1997 he bounced back with ABC's medical anthology "Vital Signs" and the 13-part PBS docu series "Boatworks." In 1998 he played the Captain of UPN's "The Love Boat: The Next Wave." He is survived by his wife, Heather, three children, Allison, Ryan and Emily; two brothers; a sister; and his mother. A memorial service is scheduled for Friday in Los Angeles.