Malcolm-Jamal Warner played “The Cosby Show’s” Theo Huxtable with a charismatic mix of bravado, innocence and hysteria.

Morris Chestnut remembers Malcolm-Jamal Warner in a heartfelt tribute to PEOPLE. The actor says how he used to see himself in Warner's iconic 'Cosby Show' character Theo Huxtable.

Since creating and starring as Dr. Cliff Huxtable on The Cosby Show, the once-beloved and ubiquitous comedian and actor Bill Cosby has seen his public image and career impacted by numerous allegations of sexual assault and abuse, all of which he has consistently denied.