While Robinson was representing Wales in Japan, Halfpenny was busy toppling Australia with the British & Irish Lions, producing a man of the series display Down Under in the process.
Halfpenny's flawless kicking, vibrant attacking and solid defensive game saw him rightly earn plaudits from rugby fans across the world.
And going into the new campaign, where Robinson, Halfpenny and Alex Cuthbert will form a dangerous looking back three for the Cardiff Blues, the 20-year-old winger sees Halfpenny as an inspiration.
"Leigh is one of the most down-to-earth guys you'll ever meet, he's the nicest bloke ever," said Robinson.
"His work ethic is unbelievable, it's second to none. Him and Rhys Patchell have the best work ethic I know.
"Leigh was out kicking on Christmas Day, that shows how dedicated he is and if you do put the time and commitment in, it just shows where you can go.
"I'm going to try and take a leaf out of his book."
Robinson made his Welsh debut against the Barbarians at the Millennium Stadium in June 2012 and had an instant impact, bursting away from Mils Muliaina to score after just 10 minutes.
Last season he figured for Wales Under 20 in the Six Nations as well as getting more and more game time with the Blues.
"I personally enjoyed last season more as it went on," said Robinson.
"I was playing better and getting into games more. I didn't really want it to end as I felt I was progressing after every game.
"I can't wait to get back into pre-season and I'm itching to play again."
Robinson's form with the Blues saw him win a place on Wales' two-Test tour to Japan. His try proved enough for Wales to win the opener but he was unable to stop the Brave Blossoms from levelling things up in Tokyo.
Robinson said: "We dug in well for the first win and showed a lot of character there but the second one just got away from us.
"But you can tell there are some really good young boys coming through. The squad morale was great throughout the two weeks and I really enjoyed it."
Compared to the likes of Cuthbert and George North, Robinson is one of the smaller wingers in Wales. But his size does not stop him getting stuck in, Shaun Edwards reserving special praise for his defensive work out in Japan.
"Shaun Edwards is very straight down the line and if he thinks you're doing something bad, he will tell you," said Robinson.
"So to get some nice comments from him means a lot. He doesn't say much but when he does, you listen.
"The way he coaches is bang on. He's a very, very honest coach and it's quite refreshing."
Robinson is now back in pre-season training with the Blues and has been doing some athletics training of his own to stay in shape.
With a number of top wingers in and around the Wales squad, there is plenty of competition for places. Robinson though, is more than up for the challenge.
"Rugby is always going to be a game of ups and downs. Personally I think it's about how you take those," he said.
"The best thing you can do is keep your head up and keep training.
"You can only control how well you play so you have to focus on number one. As long as you train hard and play well, your opportunities will come."