Robert Curthose

He was born in about 1054, but rebelled against his father after being excluded from government, despite being the recognised heir. After William's death in 1087, Robert succeeded him as Duke of Normandy, but his younger brother, William Rufus took possession of the English throne. Robert avoided confrontation by participating in the First Crusade. However, on his return in 1101 he found that the English throne had passed to a still younger brother, Henry I, and he was not disposed to overlook this affront. After being defeated by Henry in the battle of Tinchebray in 1106, he was imprisoned, eventually dying in Cardiff Castle in 1134.