D’Angelo, the Grammy-winning R&B singer who helped pioneer neo-soul music in the 1990s, has died at the age of 51. "After a prolonged and courageous battle with cancer, we are heartbroken to announce that Michael D’Angelo Archer, known to his fans around the world as D’Angelo, has been called home, departing this life today," his family said in a statement. Born in 1974 in Richmond, Virginia, D’Angelo taught himself how to play piano at the age of 3 and later played alongside his father, a pastor, in church. In 1995, he released his debut album "Brown Sugar," which featured hits like "Lady," “Cruisin'" and the title track. The album highlighted his sultry vocal style and earned him multiple Grammy nominations. Five years later, D'Angelo released his sophomore album, "Voodoo," which won the Grammy for best R&B album. The album featured the hit single "Untitled (How Does It Feel)," which gained national attention for its music video featuring a shirtless D'Angelo. The song also won a Grammy for best male R&B vocal performance. D'Angelo released his third and final album, "Black Messiah," more than a decade later, in 2014. The album won him another Grammy for best R&B album, and one of its tracks — "Really Love" — won the Grammy for best R&B song. Photo by Shahar Azran via Getty Images