Robert Picardo (born October 27, 1953) is an American actor and singer. He is known for his portrayals of Dr. Dick Richards on ABC's China Beach; the Emergency Medical Hologram (EMH), also known as The Doctor, on Star Trek: Voyager; the Cowboy in Innerspace, Coach Cutlip on The Wonder Years (where he received an Emmy nomination); Ben Wheeler in Wagons East; and as Richard Woolsey in the Stargate television franchise.