David Rudman

David Rudman is a puppeteer, voice actor, writer, director and producer, best known as a performer of many of Sesame Streets Muppets. He originated the role of Baby Bear, and has been nominated for four Emmy Awards for his work replacing Frank Oz in the role of Cookie Monster. However, Oz still comes in to record new material with Cookie Monster occasionally, as well as Grover and Bert.

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Source: Wikipedia