Taylor, known as Chip at Princeton, came to us from Phillips Exeter Academy, where he participated in lacrosse and worked on the yearbook. At Princeton he played soccer, hockey, and lacrosse as a freshman and lacrosse in his upperclass years. After graduation he attended Harvard Law School, earning a law degree in 1965. While there he married Pamela Warner; they had three children, John, Seth and Anne. Their marriage ended in divorce in 1982. 

After Harvard he worked at the Wall Street firm of Cadwalader, Wickersham & Taft until 1968, when he joined the legal department at Johnson & Johnson. Working on both domestic and international assignments, he became international counsel and eventually corporate secretary. He retired in 1994. 

In 1993 Tayokr married Barbara Hauter, and upon retirement they moved to Santa Barbara, Calif. He became active in various charitable organizations while staying physically active by hiking, cycling, running, and playing golf. 

In addition to his children and wife, Taylor is survived by his stepdaughter Melora, stepdaughter-in-law Susan, and 10 grandchildren. He was predeceased by stepson Robert.