Robert Guillaume, the star of the TV sitcom “Benson” and voice of Rafiki in Disney’s “The Lion King”, has died. Actor Robert Guillaume, best known for his title role in the TV series “Benson,” died Tuesday at his home in Los Angeles. He was 89. His wife Donna Guillaume told CNN he had battled prostate cancer in recent years. “He kinda went the way everyone wishes they could, surrounded by love and in his sleep,” Guillaume said.