The star passed away on Wednesday (01Aug12) at St. Christopher's Hospice in London. He was diagnosed with the disease in June (12).
Charnock was known as a pioneer in British contemporary dance in the 1980s and co-founded the famed DV8 physical theatre with Lloyd Newson in 1986.
He performed solo, and often nude, in shows such as Hell Bent, Original Sin and Human Being, while his improvised production of Frank was commissioned by the Venice Biennale.
He served as the artistic director of Finland's Helsinki Dance Company from 2002 to 2005, and was working on an ambitious new project, titled 10 Men, at the time of his death.