Robert Miller grew up in Cuba, learned English in Mississippi, attended high school and college in Arizona, and did post-graduate work at the University of Colorado, Boulder, specializing in primatology and archaeology with an emphasis on the evolution of civilization. He participated in the multi-disciplinary and multi-institutional project to search for the origins of the domestication of corn in Mesoamerica, excavated early man sites in northern Arizona and was a producer for Spirit Expedition Films on their Inca Royal Road project.

Miller has taught at Prescott College and Yavapai College and has published many articles in Liberty, The Denver Post, The Phoenix Business Journal, River Runner, Canoe, The Arizona Republic, Rock & Ice, American Atheist, Essays in the Philosophy of Humanism, Salka Wind, Outerlocal, The Alpinist, on Cuba, Latin America, economics, politics, history, philosophy, adventure and book reviews, and contributed to Papers on the Archaeology of Black Mesa, Arizona, edited by George J. Gumerman and Robert C. Euler, Southern Illinois University Press, 1976, as the photographer.

An accomplished outdoor enthusiast in rock climbing, mountaineering, survival, mountain biking and kayaking, he has also taught those skills at Outward Bound, Challenge Discovery, Prescott College and Yavapai College. He is the author of Kayaking the Inside Passage: A Paddler's Guide from Olympia, Washington to Muir Glacier, Alaska, Countryman Press, 2005, and a contributor to Why We Boat, Vishnu Temple Press, 2017.

Additionally, Miller has been a house designer and builder, specializing in masonry and cabinetry. In his retirement he likes crossing countries by foot and bicycle, and climbing via ferrate. He lives in Prescott, Arizona.

Titles by Robert H. Miller: