He served for a period as vice-principal of Tuskegee, beginning in 1925. In 1929, under the joint sponsorship of the Phelps-Stokes Fund, the Liberian government, and Firestone Rubber, he went to Kakata, Liberia to lay out architectural plans and devise a program in industrial training for the proposed Booker Washington Institute – "the Tuskegee of Africa." Robert Taylor served on the Mississippi Valley Flood Relief Commission, appointed by President Herbert Hoover, and was chairman of the Tuskegee chapter of the American Red Cross.