This paper discusses development of a control system for home robots. When a user requests a user interface for home robot, the home robot sends this robot's user interface to the user's PDA. Then, the robot can be efficiently controlled from this user interface on the PDA. The home server distributes the service of robots, and manages the transmission of service interface modules. When this procedure is used, home network traffic is reduced, and the user can simply access a service of a robot.

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