He made his home in Brentwood at Eskaton Lodge. His wife, Janice Hatfield Schafer, and son, Joseph Robert Schafer, preceded Robert in death. He is survived by his daughter and son-in-law, Jane and Emile; Betti of Brentwood; and his son and daughter-in-law, Jon and Julie Schafer of Citrus Heights. Nine grandchildren, 10 great-grandchildren and sister, Peg Cobine of Richmond, Ind. also survive him.