Peter Firmin, who was best known as the co-creator with Oliver Postgate of The Clangers and Bagpuss, has died.

The official Bagpuss Twitter account tweeted: "In loveing memory of Peter Firmin". He was 89.

He also helped to create memorable shows such as Ivor the Engine and Noggin the Nog and with Ivor Owen created the Basil Brush puppet..

Firmin received the Bafta Lifetime Achievement Award in 2014.