Rogers was 73.
Born Feb. 19, 1940, in Detroit, Rogers joined Northern High School student Bill "Smokey" Robinson's group, the Matadors, in the mid-1950s.
After his cousin Claudette was brought into the group, its name was deemed too masculine and was changed to "The Miracles."
With the addition of Claudette, the beautifully harmonic sound that Motown fans came to love was set. Bobby's silky tenor voice fi t right in under Smokey's and Claudette's high voices, and was anchored by Ronnie White's baritone and Pete Moore's bass.
He is particularly apparent singing second tenor under Robinson on "You Really Got a Hold on Me."
After Robinson left the Miracles to go solo in 1972, Rogers kept the group going, and they scored a hit with "Love Machine" in 1975. In recent years, he was the only original member left, but illness forced him to retire from the road.
Rogers was inducted into the Rock and Roll Hall of Fame along with the Miracles in 2012, but he was too ill to attend the April ceremony.