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He performed many characters on The Muppet Show, including Sgt. Floyd Pepper of the Electric Mayhem band, Dr. Julius Strangepork, Lew Zealand, Robin, and Gonzo's sidekick Camilla the Hen, as well as less prominent characters including Lewis Kazager, Pops, Fleet Schribbler, and J.P. Groose.
His Sesame Street characters include Count von Count (1972-), Sherlock Hemlock (1970-1992), The Amazing Mumford (1970-2002), Herry Monster (1970-2002), and half of the Two-Headed Monster (1978-1999), as well as Herbert Birdsfoot (1970-1973), Genie (1976, 2002), Simon Soundman (1971-1992), Frazzle (1971-1983), Fat Blue (1970-1999) and the Announcer (1970-). He was also the first puppeteer to perform Mr. SnuffleupagusAloysius Snuffleupagus is one of the muppet characters on the long-running educational television program for young children, Sesame Street. He resembles a wooly mammoth, without tusks, and he is a friend of Big Bird. He attends Snufflegarten and has a ba, keeping the role until 1980.
On Fraggle RockFraggle Rock was a children's television series created by Jim Henson, primarily featuring a cast of Muppet creatures called Fraggles. The vision of Fraggle Rock articulated by Jim Henson was to depict a colorful and fun world, but also a world with a rel he performed Gobo Fraggle and Pa Gorg.
In 2004, Nelson announced his retirement from regular puppeteering and voice work, citing health reasons. However, he will still be performing as the Count on Sesame Street.