The 'Bodies' singer has been invited to play at a special concert the group's singer Gary Barlow is organising in aid of charity Children in Need and plans to join his former bandmates for a one-off performance.
Robbie - who quit Take That in 1995, shortly before the rest of the group went their separate ways - said: "Yes, something is finally going to happen. Me and Gary have been hanging out a lot lately, talking things over.
"It's been absolutely amazing. I've always wanted to be in a band ever since we split."
'Grace Kelly' star Mika is one of the other stars performing at the event at London's Royal Albert Hall and he is excited about Robbie returning to Take That - and has promised some surprises of his own.
He told Britain's Daily Mirror newspaper: "It would be great. I'm a real fan of Robbie and I really like his new single 'Bodies'.
"I'll be performing a duet. I can't say who with yet but there are going to be a lot of surprises.
"Gary has done a fantastic job. It's going to be an amazing night."
Meanwhile, Robbie has reportedly been taking his girlfriend alien hunting.
The singer - who recently moved back to England - has made several late-night trips to Cradle Hill, near Warminster, southern England, with actress Ayda Field to try and spot UFOs.
A source said: "During the summer, Robbie and Ayda went on loads of late-night excursions. Cradle Hill used to be a really famous spot in the 60s and 70s where UFO hunters would gather en masse and scan the skies for signs of alien life. It's undergone a bit of a revival recently so Robbie has taken Ayda up there to see if they can spot anything. Ayda loves it."
Robbie, 35, is "obsessed" with extra-terrestrials, and claims to have seen three UFOs during his lifetime.