Lucas hooked up with boogie-rock kings Canned Heat in 1994 as singer, guitarist and harp player, and would first appear on the band's 1996 Blues Band album, the last featuring founding member and guitarist Henry Vestine.

Between 1994 and 2008, Lucas served two stints as the band's frontman, touring the world in front of the band and contributing songs, instrumentation and vocals to recordings like 1999's Boogie 2000 and the band's 2007 Christmas album.
Taylor said of Lucas that "his unequaled fury and stage presence, together with his earth-shattering vocal delivery, gave him the ability to channel many of the blues masters through his words, songs and musical ability.

Continuing, Taylor says, "He [Lucas] has been recognized by blues fans and critics worldwide as one of the most inspired singer, player and songwriter talents of the past decade.