Parse this person name:

Peterson, Robert Miranda Joseph Tanya., Yodertown (1551-1593)
user
first_name: Robert
last_name: Peterson
middle_names:
- Miranda
- Joseph
- Tanya
temporal:
- start: 1551
  end: 1593
  type: life_span
titles: []
extra_info:
- Yodertown
assistant