With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.