He then met the Flemish army at the Battle of the Golden Spurs. His infantry advanced with great success against the Flemings (mostly city militia), but he ordered their recall to allow his cavalry to make the final, victorious charge. But on the broken, marshy ground, his knights were unable to gain enough momentum to break the Flemish shieldwall, and they were knocked down and slaughtered. Robert led some of the reserves in a second charge in an attempt to reverse their fortunes. Artois was unhorsed by Willem van Saeftinghe. He and his troops were cut down by the Flemish infantry.