It is difficult for the ordinary user to set up a complex robot system in the environment where two or more home robots exist. Then, we apply the functions of UPnP (Universal Plug and Play) to the robot system using the ORiN and the RAC for means of an information transmission base. As a result, we realized that the system becomes more flexible and the user doesn't have to set configuration. In this paper, we describe the solution and implementation of auto-configuration and user interface for robot service.