Pam Dawber says Robin Williams repeatedly "grabbed, humped" her but she never took offence.

Actress Pam Dawber, who starred alongside the late Robin Williams in the 1970s hit Mork & Mindy, is claiming she was repeatedly “grabbed” and “humped” by the late comic but that she didn’t mind it one bit.

“I really loved Robin and Robin really loved me. We just clicked,” she said, speaking to The New York Times’ journalist Dave Itzkoff who has written a biography of the comedian, Daily Mail reports.

In the book, titled Robin, Dawber, 66, says he grabbed her bottom and breasts, he took off his clothes in front of her, and on occasions he would wrestle with her, even passing wind onto her body.

But the actress, who played Mindy, never saw anything wrong with Williams’ antics.

“I had the grossest things done to me by him. And I never took offence. I mean I was flashed, humped, bumped, grabbed. I think he probably did it to a lot of people…but it was so much fun,” Dawber said.

“Somehow he had that magic. If you put it on paper you would be appalled. But somehow he had this guileless little thing that he would do – those sparkly eyes.

“He’d look at you, really playful, like a puppy, all of a sudden. And then he’d grab your tits and then run away. And somehow he could get away with it. It was the ’70s, after all.”

Indeed, one of the producers on the show, Garry Marshall, told Itzkoff Williams' intent was to always "make Pam Dawber blush".

"He would take all his clothes off, he would be standing there totally naked and she was trying to act," Marshall said, Daily Mail reports.

"His aim in life was to make Pam Dawber blush."

The show Mork & Mindy ran for four years from 1978 to 1982, and was a spin-off of the television show Happy Days.

There's no doubt the comedian - who went on to star in Good Morning, Vietnam and Mrs Doubtfire - was greatly loved.

He lived a troubled but highly influential life. Between his problems with addiction, and his brave public acknowledgment of the fact, he made powerful art that touched many people around the world.

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He died by suicide in August 2014 and the global outpouring of grief at the announcement of his death serves as testament to the joy he bought his audiences as an actor and comedian.

"Somehow he had that magic," Dawber said.

And, whatever that accounts for, she swears there was no harm done.