In July 2012 he began training for the 3.5km Russell to Paihia swim "as something to do," which he completed in November that year.
Mr Robinson doesn't wear a wetsuit on open-water swims as the swims need to be 'unassisted' to be registered, and a wetsuit aids warmth and buoyancy.
Instead, for the Taupo swim, he coated himself in something a little less appealing.
"Someone at the local BP station had a supply of engine grease, it looks like Vaseline and it was really sticky," he said.
He was mentored by Kiwi Philip Rush, an open-water specialist who has crossed the Cook Strait eight times.
"I remember thinking at the start that it was such a long way, but I just cleared my mind and tried not to think of anything," Mr Robinson said.
Several Russell to Paihia swims, and two 10km Ocean Series swims later, traversing Lake Taupo was the next goal.
Mr Robinson went down to Taupo before Easter, in order to wait for the best conditions. .
Easter Sunday was the day.
"I only slept about an hour [the night before the swim], but fortunately I'd be sleeping well the nights before."
He set off at 4am with two support boats in tow - one with Karen and Philip on board, the other with wife Michelle and his three daughters.
He has had problems with his shoulder which turned blue for periods during the crossing.
"If it was for too much longer, they would have recommended I stop."
Mr Robinson remembers Philip Rush shouting at him near the end, "Only three and a half km's to go."
"I remember thinking, 'That's the length of the Russell to Paihia, I've still got that whole swim left'."
The water was 19C - similar to the temperatures he was training in in the Bay of Islands.
Mr Robinson crawled from the water , a technique suggested to him to minimise the effects of 'jelly legs.'
He felt like "a zombie" afterwards, although overall was in good shape, except for a scrape on his knees from the beach crawl, and a graze on his face from his goggles.
"It was relief, really. There was no punching the air or anything ... I just felt really spaced out, and I was swaying a bit."
The next challenge is the Cook Strait crossing next February, which is half the distance of Lake Taupo, but much more effort.
Mr Robinson has to concentrate on changing his technique to tackle the rougher water, building up speed and strength.
The strait has to be carefully negotiated, missing a rip can add six hours to the crossing time.