Robert Curthose (1054 - 1134). Eldest son of William I and Matilda of Flanders. Robert and his father did not get along leading William to want to disinherit Robert. He gave Robert the Duchy of Normandy and gave England to his second son, William Rufus. Robert launched a failed rebellion against his brother in 1088. When William II died his younger brother Henry I seized the throne, and Robert tried to invade again in 1101. In 1106 Henry took over Normandy from Robert.