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Mr. Leakey outlined his ideas in several books, including the best-selling “Origins” (1977) and “People of the Lake” (1978), both written with Roger Lewin. Mr. Leakey, who was on the cover of Time magazine in 1977 and was the host of a popular BBC series, “The Making of Mankind,” initially broadcast in 1981, believed that the first links in the human evolutionary chain reached back more than 7 million years.