The 'Bodies' singer cried as he was reunited with his former bandmates - Gary Barlow, Howard Donald, Jason Orange and Mark Owen - onstage last night (12.11.08) for the first time in 15 years and revealed plans are in place for them to enter the studio together.
He said to Britain's Daily Mirror newspaper: "The ball is rolling for a Take That album with me. I was tearing up when I was onstage with the lads."
Robbie joined the group and a host of other stars including Lily Allen to sing Beatles classic 'Hey Jude' - led by the song's original singer, Sir Paul McCartney at London's Royal Albert hall for the charity concert.
Gary - who organised the concert in aid of Children In Need - performed arm-in-arm with Robbie, and said he felt like the old line-up was back together again.
Speaking afterwards, he said: "He was the last one I was hoping to get here. He was the icing on the cake of the whole thing for me.
"When we were all stood in a line we didn't want to leave ... it felt great having him back. It feels like he's back, it does."
Robbie also admitted he wished they could have stayed onstage for longer and sung one of Take That's old hits.
He said: "We should have milked it for a lot longer. I was trying to call them back and do a bow. It's the first time in 15 years we were together, we should have at least stayed for 15 minutes.
"While they were singing I wanted to grab a mic and start singing too. It would have to have been 'Back For Good'."
Take That opened the show before opening the stage up for their former bandmate.
After performing their hit 'Greatest Day', Gary then said: "What a perfect night for us to introduce an old friend."
However, fans hoping for a full reunion were left disappointed when the group departed the stage, leaving Robbie alone to sing two tracks from his new album 'Reality Killed The Video Star'.