The URC provides program execution environments for robots, in which robots are connected with a communication network, interacted with humans, and provide context-aware services. Especially URC robots are implemented on distributed computing environments, therefore client-side of the robot can be simplified and come to use less computing power. Other previous studies report that a program developer is required to develop programs by directly using the communication between objects or by using a distributed middleware to support communications. Both cases support communication by using communication APIs, which are not easy to use and/or learn for application program developers. In this paper, we present SOMAR, which is a middleware for developing robot software on in distributed computing environments. SOMAR supports RSEL document, which is to abstract robot software binding based on service-oriented approach. Services written by RSEL documents are interpreted on a target system or converted to the programming language of a target system according to the executing layer of the services. A robot server interprets the abstracted services and it provides them to other applications as a web service. A robot client converts the services to programming codes of a target system, when it serves as an R-OSGi proxy class. The automated distributed computing environment using RSEL allows the developer to focus on requirement of robot applications. Therefore, it is possible to decrease software complexity to develop applications in complicated distributed computing environments.