He performed Grace Bass alongside Alan Semok in the first season and Ken Miele for rest of the series. Baird died of esophageal cancer Friday, July 16, 2004 at Calvary Hospital in New York City, his wife, Mavis Humes Baird, said Monday. The couple maintained homes in Manhattan and Los Angeles. The younger Baird worked on the children's television show "Shining Time Station" for all 65 episodes from 1990 to 1993, voicing and manipulating Grace the Bass in the show's Juke Box Puppet Band. His feature film credits include "The Muppets Take Manhattan" in 1984 and "Howard the Duck" in 1986.