Robert Aitken was born on this day, the 19th of June, in Philadelphia, in 1917. Soon after the family moved to Hawai'i. He is remembered as Robert Aitken was born on this day, the 19th of June, in Philadelphia, in 1917. Soon after the family moved to Hawai'i. He is remembered as one of the first Westerners to be recognized as a Zen master.