Robert M. Pirsig, who inspired generations to road trip across America with his “novelistic autobigraphy,” Zen and the Art of Motorcycle Maintenance, died Monday at the age of 88.

His publisher William Morrow & Company said in a statement that Pirsig died at his home in South Berwick, Maine, “after a period of failing health.”

Pirsig wrote just two books: Zen (subtitled “An Inquiry Into Values”) and Lila: An Inquiry into Morals.

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