Penikett, who played Karl 'Helo' Agathon in the science fiction show, told IGN about his encounter with a starstruck Whedon when he auditioned for the role of FBI Agent Paul Smith in his new series Dollhouse.
He said: "Joss and I had a conversation, and he told me about the role and I was blown away that he was even calling. And then I heard how much of a fan he was of the show, so I was just totally honoured. I was like, 'I'm talking to Joss Whedon and he's telling me how much he loves the show and my work!'"
Penikett added: "It's neat to get to that point in your career where you've got people of that talent and that calibre, in that position in the business, calling you and saying, 'Look, I'm a fan of yours'. It's great. It's a really neat feeling."
> Click here to read our review of Battlestar Galactica's fourth season