Former "Firefly" star Alan Tudyk has piloted himself to ABC, where he'll star in Max Mutchnick and David Kohan's comedy pilot.

Another ABC comedy, "This Might Hurt," has also beefed up its cast, signing Josh Dean (FOX's "Free Ride") as one of its leads and adding two others as well.

The Kohan-Mutchnick project is based on the partnership between the two writers, who created "Will & Grace." It centers on two long-time friends and business partners, one straight and one gay; Tudyk will play the latter role, according to The Hollywood Reporter.

Tudyk has some comedy experience, including "Dodgeball" and guest spots "Frasier" and "Arrested Development." "Firefly," on which he played pilot Hoban "Wash" Washburne, had a healthy dose of humor as well. The role will be his first regular gig on a comedy, however.

Tudyk starred in another pilot earlier this season, a legal drama from Luke Reiter that was set up at NBC. He's the second cast member to depart that project; Kurtwood Smith ("That '70s Show") was recently cast in CBS' comedy "Worst Week."

"This Might Hurt," from writer-director Jason Winer, is set at a medical practice run by a traditionalist father and his son (Dean), who wants his dad to shed some of his old ways. The cast will also include Vanessa Lengies ("American Dreams," "Stick It") as the office receptionist and Hayes MacArthur ("The Game Plan") as a nurse who also runs a gambling operation out of the office.