<P> Irwin was featured in the 1988 music video of "Don't Worry, Be Happy" by Bobby McFerrin (along with McFerrin and Robin Williams). Irwin was also featured in HBO's 1997 production Subway Stories . He has also appeared on The Cosby Show, Saturday Night Live, 3rd Rock from the Sun, Law & Order and Lights Out . </P> <P> In 2011, Irwin guest starred in the pilot episode of the CBS television drama A Gifted Man . He starred in the 2013 medical drama TNT television series, Monday Mornings, as Buck Tierney . In 2014, he guest starred in the episode "The One Percent Solution" of CBS' Elementary . </P> <P> Irwin voices the robot TARS in the film Interstellar, and puppeteers the robot in most scenes (those where it is not a computer - generated image). </P> <P> Irwin is featured in the PBS series Great Performances, in the episode titled "Bill Irwin, Clown Prince", initially broadcast in December 2004 . </P>

Who played the voice of tars in interstellar
find me the text answering this question