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Robert Alphonse Picardo (born October 27, 1953) is an American actor. He is best known for playing the Cowboy in Innerspace, Coach Cutlip on The Wonder Years, Captain Dick Richard on the ABC series China Beach, the Doctor on Star Trek: Voyager and Richard Woolsey in the Stargate franchise. He is a frequent collaborator of Joe Dante and is a member of The Planetary Society's Board of Directors.