Eh?
Both come so naturally to me that I honestly have no idea which centuries you're talking about, or which you think is obsolete.
https://books.google.com/ngrams/graph?content=rob%2C+steal&y...
If I had to guess why (other than reasons...) I'd probably speculate that steal tends to have a broader meaning while rob is more likely to be applied to physically robbing someone.
I'm British, so maybe that explains my initial confusion.
I originally thought that rob vs. steal might be one of those Germanic vs. French roots thing but both words seem to be traceable through Old English.
Google ngram search is case-sensitive though, so that's unlikely to account for much - and probably offset by sentences beginning with the verb, e.g. 'Rob him, quick!' said the man.