He is best known as a founding member and lead singer of Firefall from 1974 to 1981, as well as his work with The Flying Burrito Brothers on their 1971 self-titled album.

The group also originally included former members of The Band, Richard Manuel and Rick Danko, as well as Blondie Chaplin and John York (who was Chris Hillman's replacement in The Byrds in 1968).

[3] In 1987, he teamed up with ex-Eagle Randy Meisner in the short lived Roberts-Meisner Band and then rejoined his bandmates in Firefall from 1989 to 1992.

But he was sidelined due to health issues for a number of years before eventually returning to the road as a solo act.

In 2010 he returned to music and released three 4-song-EPs on iTunes - 'Phases'; 'Same Mirror, Different Images' and 'Full Bloom' (the latter having two different track listings) - and launched his website and in the summer and fall of 2019, he toured together with fellow Firefaller Larry Burnett.