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Peter Costa (actor) From Wikipedia, the free encyclopedia. Peter Costa is a former American child actor. Costa is best known for his many appearances on The Cosby Show, playing Rudy Huxtable's chubby friend Peter Chiara, whose signature trait was running out the door when a scary or disastrous situation occurs in the Huxtable house..
She's just as disgusted and concerned as everyone else is, but I don't think she has any insight, Kravitz added. Bonet starred on The Cosby Show from 1984 to 1991, playing Denise Huxtable (later Denise Kendall), the second-eldest daughter of Cliff (Cosby) and Clair (Phylicia Rashad). She was 17 when she started the series, and 23 when she left. Bill Cosby as Doctor Heathcliff 'Cliff' Huxtable and Lisa Bonet as Denise Huxtable Kendall on The Cosby Show.