Neither murder nor an innocent homicide but rather the unlawful taking of human life without premeditation or malice with forethought. “Voluntary” and “involuntary” indicate whether or not the killing was intended. Taking a human life during the heat of passion, even though there was an intent to kill, is considered voluntary manslaughter. The taking of a life without the intent to kill is considered involuntary manslaughter.
And now you know!