Just taking another look and it may be worth noting that also in Kilmersdon is a Richard MILLARD according to the census born 1793-1796. He is born in Batcombe and is also a Carpenter. There is a Thomas in Batcombe in the same age group also a carpenter. Some older MILLARDS also (not all are carpenters)
A few marriages . I note the name Ann EDNY since the Richard in Kilmersdon seems to listed (submitted entries) on the IGI as Richard Enedy MILLARD.
John MILLARD of Batcombe = Jane JACKLET of Batcombe 12 Apr 1789 Batcombe with Upton Noble
James MILLARD of Batcombe = Mary GERRARD widow of Batcombe by licence 17 Apr 1792 Batcombe with Upton Noble
Thomas MILLARD of Batcombe = Hannah GILES of Batcombe 27 Apr 1789 Batcombe with Upton Noble
William MILLARD of Batcombe = Ann EDNY of Batcombe 25 Mar 1788 Batcombe with Upton Noble Possibly listed as aged 75 and Ind in Batcombe in 1841 Ann buried 12 Nov 1844 Batcombe aged 82 - now there was a William buried in Kilmersdon 14 Apr 1846 aged 84. He is not in Kilmersdon in 1841 so looks like he may have moved in with son after Ann's death. Going by those IGI entries I suspect this couple are very likely to be Richards parents but are they also Roberts?
I suggest you take a look at Batcombe PR's.
Cheers Kris