Will Scarlet

 was one of Robin Hood's band of outlaws, the Merry Men, in the 12th century. He and Little John captured the First Doctor and Barbara Wright. (PROSE: The Thief of Sherwood)

Robin Hood described him as a "cheeky rogue with a good sword hand and a slippery tongue."

Along with his fellows, he encountered the Twelfth Doctor and Clara Oswald in 1190. The Time Lord snipped off a lock of his hair, to evaluate if he were human or not. (TV: Robot of Sherwood)