Criminal law defines"burglary" as breaking and entering into someone's house with intent to take something within.
Example: if your friend come to visit you and you let him/her go inside your house, he/she took something from your house without asking. Here, it does not meet the criteria of breaking, so, it is only stealing. Burgary, force is used for breaking and entering, it is not to people.
Robbery is taking something from someone by force using deadly weapon or threatening someone's life.
Muggling, sorry I wasn't train in using this word.
Addition:
- If someone steals a wallet from your pocket in the street - you are not robbed.
-If someone "burgled" a house, it is not necessarily means some destruction like broken windows, doors etc? Just open the window or a door a little to get in, it meet the criteria of breaking and entering.