It's absolutely not required. Robots.txt lets you - or really your server - announce which pages and folders different bots aren't allowed to crawl. Like Nathand said. It has very little actual seo benefit.
You should have one, though. If you don't care about pages being indexed, make an empty, zero-byte file. All well behaved bots will try to grab the file before crawling over a site, so if the file doesn't exist, the server will send down a 404. That's much bigger than an empty file, and if you have any custom logic on your 404 page, it can put a burden on the server. Not a large one, but if they're sending down 20+ thousand pages a day to human clients, scalability is probably at least a minor concern.
If there's no robots.txt file, it means 'bots are allowed to crawl where they please. If you have one, and it's more than one line, it technically needs to be in Unix format.
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