Actress Clarice Taylor, who played Grandmother Huxtable on NBC’s “The Cosby Show,” died Monday of congestive heart failure in Englewood, N.J. She was 93.

Taylor recurred throughout the 1984-92 run of the hit sitcom. She and Earle Hyman, who played her husband on “The Cosby Show,” both received Emmy nominations in 1986 for their roles as the Huxtable grandparents.

She was also a recurring cast member for more than a decade on “Sesame Street,” where she played Harriet. She last appeared on TV in a 1995 episode of “Due South.”

Taylor was born in Buckingham County, Va., but grew up in Harlem.

She first worked onstage with Harlem’s American Negro Theater, and she was one of the original members of the New York’s Negro Ensemble Company in the late 1960s. In the late 1970s, the actress appeared in the original Broadway production of “The Wiz,” then toured with the show. Her roommate was Phylicia Rashad, who would later play Cosby’s wife on “The Cosby Show.”

In the late 1980s Taylor performed a one-woman show about black comedian Moms Mabley called “Moms,” though there was legal dispute over credit for the work.

Taylor’s film credits included Clint Eastwood’s “Play Misty for Me.” She starred in “Five on the Black Hand Side” (1973).

She is survived by two sons and five grandchildren.