The About cites Cutter
https://archive.org/details/newenglandfamili02cutt_1/page/n119/
which doesn't have the bit about "Richard rescued his sister and future wife".
But Cutter's account goes from the Crusade to Edward III (1327-1377) in two generations, which only goes to show that Cutter just printed whatever he was sent without doing even basic checking.
In fact the Grosvenors had a fake pedigree drawn up for the Scrope-Grosvenor trial. As given then, it looked like this
https://archive.org/stream/ancestorquarterl01unse#page/174/
so it changed a lot before it reached Cutter.
Better chart
https://archive.org/stream/ancestorquarterl01unse#page/184/
which says this Robert was actually called Richard.
2 follow-up articles in the next issue
https://archive.org/stream/ancestorquarterl02unse#page/n14/