Robert married Esther Ann Shepard about 1817 in Clinton, New York, USA. Esther (daughter of Jonathan Shepard, III and Louisa Marvin) was born on 8 Feb 1797 in Alburgh, Grand Isle, Vermont, USA; died on 14 Oct 1877 in Ellenburg Depot, Clinton, New York, USA; was buried in Ellenburg Depot, Clinton, New York, USA. [Group Sheet] [Family Chart]

1. Ann M. Taylor was born on 20 Apr 1831 in New York, USA; died on 2 Nov 1907 in Lansing, Ingham, Michigan, USA.
2. Samuel Hubbell Taylor was born on 25 Dec 1834 in Clinton, New York, USA; died on 17 Feb 1908 in Sunnyside, Yakima, Washington, USA; was buried in Ivy Green Cemetery, Bremerton, Kitsap, Washington, USA.
3. Adelia T. Taylor was born on 4 Jul 1836 in Clinton, Clinton, New York, USA; died on 18 Aug 1868.
4. Temperance Taylor was born about 1837 in Clinton, New York, USA.