Actor Stephen Moore has died. He was 81.

In a career that skilfully mixed straight drama with comedy roles Moore was known to many as the voice of Marvin the Paranoid Android in The Hitchhiker's Guide to the Galaxy and as the father of Kevin the Teenager in the Harry Enfield sketches (pictured).

He also starred as the father of Melody and Harmony Parker in the children's series The Queen's Nose. Other appearances included roles in The Boat That Rocked, Dr Who and Adrian Mole.