The 'Blurred Lines' hitmaker's duet with the 20-year-old star - which saw her gyrating and suggestively touching herself with a foam finger - has caused some controversy, but he has insisted they brought ''shock and awe'' to the event.
He told US Star magazine: ''We knew what we were getting ourselves into ... We're entertainers, and the VMAs [are] the perfect place for a little shock and awe.''
He also insisted Miley's use of the foam finger was planned and the pair knew it would get a rise out of certain viewers.
He added: ''We kind of knew when we were in rehearsal and we were like, 'Okay, if you touch me with your foam finger all over my crotch, obviously a few people are going to have something to say about this'. But that was the whole point!''
However, Robin denied the raunchy performance was ''sexually charged'', instead claiming it was simply ''silly''.
He said: ''I thought it was silly and funny. She was being humorous and naughty, but it wasn't sexually charged at all.''