Lucas and Hamill lead tributes to Kenny Baker, Star Wars R2-D2 actor

Baker played mischievous droid R2-D2 [pictured with Anthony Daniels as C-3PO] in the first six Star Wars films

Star Wars' George Lucas and Mark Hamill are among the big names paying tribute to actor Kenny Baker, who has died aged 81, describing him as "the heart and soul of R2-D2".

George Lucas and Baker worked together on The Phantom Menace with Jake Lloyd

Baker made his name as the robot in the first Star Wars film in 1977 alongside Anthony Daniels' C-3PO character. Lucas said Baker was "a real gentleman" and Hamill, who plays Luke Skywalker, said he had lost "a lifelong friend".

Baker said of his costume: "I got into it and they put the lid on me like a boiled egg"

Born in Birmingham, Baker's other films include Time Bandits and Flash Gordon.

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Lucas said: "Kenny Baker was a real gentleman as well as an incredible trooper who always worked hard under difficult circumstances.