Robin Williams timeline.

Robin Williams first met Valerie Velardi in 1976 while Williams was working as a bartender, the two got married a couple years later in June 1978.
This is an example of Erikson's sixth stage; Intimacy VS isolation.
The crisis is between being able to share yourself with another person more intimately, & exploring relationships to establish a sense of commitment, safety, and care. VS Avoiding intimacy and not being able to trust others with your vulnerability thus embracing loneliness.

William's has his first son Zachary Pym Williams in 1983. In the following years Zak has been extremely well cared for by his parents, & tends to not do well when he is away from them.
This is an example of Erikson's first stage; Trust VS Mistrust.
The crisis between this stage is the infant is uncertain about the world in which they live, and so they look to their primary care givers for stability, being with a babysitter they are not as familiar with leads to the mistrust and anxiety felt.

Williams and his second wife Marsha founded a philanthropic organization called the Windfall Foundation to raise money for many charities. In 1999 Williams sang a cover in French for the charity Children's Promise.
This is an example of Erikson's seventh stage; Generativity VS Stagnation.
The crisis between this stage is finding a way to give back to society. Being able to claim success, & creating positive changes that benefit others. VS not contributing feeling stagnant & unproductive.