Besides this, however, the agent must be grieved and sorry for what he has done, if the act thus ignorantly committed is to be called involuntary [not merely not-voluntary].

But now, having found that an act is involuntary when done under compulsion or through ignorance, we may conclude that a voluntary act is one which is originated by the doer with knowledge of the particular circumstances of the act.

For I venture to think that it is incorrect to say that acts done through anger or desire are involuntary.

In the first place, if this be so we can no longer allow that any of the other animals act voluntarily, nor even children.