ENCINO, Calif. – Janet Waldo, who gave life to animated space-age teenager Judy Jetson, died Sunday, her family said. She was 96.

Her daughter Lucy Lee confirmed Waldo’s death and told the Associated Press Waldo had been battling a brain tumor. Waldo was diagnosed with the tumor five years ago, Lee said.

In addition to the role of Judy Jetson, Waldo provided her voice to a number of other Hanna-Barbera cartoon characters. She voiced Penelope Pitstop as well as Josie from “Josie and the Pussycats”, according to Entertainment Weekly. Her last role in 2000 was a reprisal of Penelope Pitstop in a Wacky Races video game.

Waldo was born in Yakima, Wash., in 1920. Her career began with an uncredited role in the 1938 film “Cocoanut Grove”, according to People Magazine. She went on to a steady career in radio before appearing in a 1952 episode of “I Love Lucy”. She then had several TV appearances on shows like “The Andy Griffith Show”, “Get Smart” and “Petticoat Junction” before she began her animation roles. “The Jetsons” ran from 1962-1987.

She has more than 100 TV and movie credits to her name, according to her IMDB page. She’s been featured in shows such as “The Smurfs”, “The Flintstones”, “Alvin & the Chipmunks”, “The Dukes”, “Jeannie”, “Yogi’s Space Race” and “Battle of the Planets”.

Waldo is survived by her two children, Lucy Lee and Jonathan Barlow Lee. Her husband, playwright Robert Edwin Lee, died in 1994.