PHILADELPHIA — What a long, strange trip it’s been. Over the course of his five-decade career the comic artist R. Crumb has gone from hero of the hippie underground to toast of the international art world. Founder of the deliriously psychedelic and ribald Zap Comix during the Haight-Ashbury wonder years, he has more recently contributed comic strips made in collaboration with his wife, Aline Kominsky Crumb, to The New Yorker. In 2004 he was included in the Carnegie International and had a career retrospective at the Ludwig Museum in Cologne, Germany.

Now the Institute of Contemporary Art here offers “R. Crumb’s Underground,” an excellent opportunity to ponder Mr. Crumb’s incredible journey. This enthralling selection of more than 100 works from all phases of his career was organized by Todd Hignite, the publisher and editor of Comic Art magazine, for the Yerba Buena Center for the Arts in San Francisco, where it was on view in 2007.

Mr. Crumb is not the only artist to cross over from the comic-book ghetto to the fine-art museum. Gary Panter, Chris Ware and Daniel Clowes are just three of the better-known contemporary cartoonists who have helped to make the comic book a form to be taken seriously by sophisticated adults. But Mr. Crumb — a draftsman of transcendent skill, inventiveness and versatility, a fearlessly irreverent, excruciatingly funny satirist of all things modern and progressively high-minded, and an intrepid explorer of his own twisted psyche — remains the genre’s gold standard.

Image R. Crumbs Underground One of the more than 100 works in this exhibition at the Institute of Contemporary Art in Philadelphia. Credit... Courtesy of Denis Kitchen Art Agency

Born in Philadelphia in 1943, Mr. Crumb (first name, Robert) never went to art school. He learned to draw under the tutelage of his older brother, Charles, also an aspiring comic artist. In the early 1960s he designed greeting cards for the American Greetings Corporation in Cleveland. In 1967 he moved to San Francisco, where he would create some of the most memorable characters in cartoon history, including the irascible guru Mr. Natural and his hapless foil Flakey Foont; the suave, shamelessly randy Fritz the Cat; the angry amazon Devil Girl; and R. Crumb himself, a figure comparable to the autobiographical alter egos of Woody Allen and Philip Roth. Since the early 1990s Mr. Crumb and his wife have lived in the South of France.