August 16, 2016 2:30 PM EDT

Following Star Wars actor Kenny Baker’s death, Peter Mayhew took to his personal website to honor the man who brought R2-D2 to life. Mayhew – who plays Chewbacca in the space fantasy franchise – penned an emotional tribute to his longtime friend, who passed away on Saturday at the age of 81.

“I know I’m a bit late with this, but my sadness is profound and no words seemed adequate to convey what we collectively and I personally have lost with the passing of my dear friend Kenny Baker,” he wrote.

The 72-year-old actor also spoke about how he and Baker were brought together by their dramatic height difference, as Mayhew stood at 7-foot-3 while Baker was 3-foot-8.

“Kenny and I became fast friends the first time we met and formed a lifelong bond after realizing that we had so much in common,” he wrote. “Although people liked to contrast the difference in our heights, we found we shared many of the same struggles, from finding clothes, driving cars, and fitting in airplane seats to health issues and the ever constant stares of strangers; we understood each other on a level that few others can. I am so very glad I got to spend time with him in London earlier this month. His talent and his wicked sense of humor never diminished even as his health did.”

Read the full eulogy at

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