Martin P. Robinson (born March 9, 1954) is a puppeteer for the Jim Henson Company. He also built, designed, and performed the puppets for Little Shop of Horrors. He is best known for his work on Sesame Street, having performed the characters of Telly Monster, Mrs. Grouch (Oscar's mother), Slimey the Worm, Mr. Snuffleupagus, Oscar's niece Irvine, and Shelley the Turtle on the show for over 30 years.