Paul Taylor, the prolific modern dance choreographer whose company was founded in 1954, died August 29 at the age of 88. His best-known works included Esplanade (1975), Aureole (1962), and Orbs (1966).

His death, due to renal failure, was confirmed by Paul Taylor Dance Company spokesperson Lisa Labrado.

A student of the Juilliard School, Mr. Taylor created roles for such choreographers as Merce Cunningham, Martha Graham, and George Balanchine, while Pina Bausch and Twyla Tharp were members of his own company before branching out on their own.

Mr. Taylor retired from dancing in 1974, focusing on choreographing instead. He was a recipient of the Kennedy Center Honors, and was awarded the National Medal of Arts by President Clinton in 1993.

Mr. Taylor was born outside Pittsburgh, PA on July 29, 1930.