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Male Judah Roberts Click to view Judah Roberts in the family tree

Judah was born after 1757.1   Judah's father was Joel Roberts and his mother was Esther Loomis.  His maternal grandparents were John Loomis and Abigail Ellsworth. He had three brothers and three sisters, named Samuel, Joel, John Loomis, Naomi, Chloe and Esther.  He was the third oldest of the seven children.1 

1 phelps.FTW @ Tree #0105
Further sources/citations:
World Family Tree Vol. 3, Ed. 1 @ Tree #3669, 3669.ftw