Who knows how this recipe for Robin Hood Chicken got its name, but the Merry Men of Nottingham probably loved eating it! And there’s definitely an art to grilling chicken. The secret to tender, juicy meat is using a special rub-in marinade. Full of rosemary, garlic, and lemon juice, this fragrant marinade sings with flavor. But you want to thoroughly work the rub mixture into the chicken, then let it marinate in the refrigerator at least one hour, or as long as overnight, before grilling. Th…