Peter Cullen, the renowned voice actor whose deep, authoritative voice defined Optimus Prime in the “Transformers” franchise, has died at the age of 85. His agent confirmed his passing to TMZ, stating that Cullen died on Wednesday at his home in Los Angeles.

Cullen’s family released a statement mourning his loss, saying he “passed away peacefully, surrounded by his loving family.” They also shared a message from his family: “His family asks that you honor his remarkable legacy by serving your communities and leading others with compassion, integrity, and loyalty and always remember ‘be strong enough to be gentle.'”

The cause of death has not been disclosed.

Cullen became a household name for his portrayal of Optimus Prime, the noble leader of the Autobots, in the original 1980s animated “Transformers” television series. His resonant delivery became inextricably linked with the character, a connection that endured through subsequent iterations of the franchise. He reprised the role in “The Transformers: The Movie” in 1986 and continued to voice Optimus Prime in the blockbuster film series directed by Michael Bay.