[1] He recognizes as musical influences Ray Charles, Stravinsky, Coltrane, Rachmaninoff, Mose Allison, Cannonball Adderley, David "Fathead" Newman, Steely Dan, Frank Zappa and Etta James.

His grandmother worked at RCA in Trenton, New Jersey, giving Robert access to a variety of 78 RPM records.

His father was a fan of Big Band music, he regularly watched Dick Clark's American Bandstand show, and he listened to the excellent jazz that was played in the city's clubs.

At home his parents had a Lester Spinet piano, and as soon as he was tall enough to reach the keys, he taught himself to play by ear.

[4] While he was an outstanding student at high school, a member of the National Honor Society, and an accomplished sportsman (a wrestling champion and excellent baseball player who considered playing professionally), he preferred to pursue music.

A few years later he became passionate about the blues and wanted to play the saxophone after listening to Ray Charles saxophonist David "Fathead" Newman.

At this stage he played on many records that helped to establish the Philadelphia soul sound, such as "Me and Mrs. Jones", "Back Stabbers", "Love Train", and "If You Don't Know Me by Now".

[3] Regarding his role as singer, Etta James was his great mentor, who encouraged him to sing with her in her live performances over a period of fifteen years.

In 1981 Dave Robb, top technician on the road crew for Orleans in the 1970s, told Robert that Frank Zappa needed a musician for the 1981 tour.

Between tours with Zappa, he obtained the position of musical director for Cybill Shepherd and Bette Midler, and worked with Paul McCartney, Michael McDonald, Stevie Nicks, Boz Scaggs, Etta James (on tour with The Rolling Stones), Patti LaBelle, Bonnie Raitt, Kenny Loggins, and many others.

In 1987 he performed on, arranged and co-produced the album American Soul Man for Wilson Pickett on Motown Records.