The Sisters were established by the Abbé Louis Lafosse (1772–1839) and four young women, led by Mother Marie-Anne Dutertre, on 21 November 1817 in Échauffour, Normandy.
Robert was a member of the de Grandmesnil family and also identified closely with his mother's Giroie family of Échauffour and Montreuil-l'Argillé, members of which family were vassals as well as rivals of the de Bellême family.
He was a son of William fitz Giroie Lord of Échauffour and Montreuil-l'Argillé and Emma de Tannei, daughter of Walchelin de Tannei.