Ozzy Osbourne has been remembered as a “pioneer,” a “fearless talent” and a “dear friend,” in an outpouring of tributes from fellow musicians and his former Black Sabbath bandmates following his death on Tuesday at the age of 76.

Osbourne is survived by his wife Sharon and six children, three from each of his two marriages. Fans, musicians and former bandmates have paid tribute to Ozzy Osbourne, the frontman of pioneering heavy metal band Black Sabbath, who has died aged 76.