Juhl, who died at a San Francisco hospital on Sept. 27, became the first full-time employee of Jim Henson Co. in 1961 after meeting Henson at a puppeteer's convention. The company coined the term "Muppet," a combination of the words marionette and puppet, and created a series of short skits parodying television news anchormen and women.

Juhl worked on Henson's first television show, "Sam and Friends" as a puppeteer but soon decided that "wiggling dollies," as he liked to call the art, wasn't his forte and started working as a writer.

He spent six years writing for "Sesame Street" after its 1969 premiere and created scripts for the Cookie Monster, Oscar the Grouch, Big Bird, Elmo, Bert, Ernie and The Count. He created Super Grover, a superhero version of Grover, and received two Emmy Awards for his work.

He served as head writer for "The Muppet Show" from 1977-1981. The variety show eventually aired in more than 100 countries, becoming one of the most-watched television shows in the world. He also wrote for three Muppet movies.