The Universal Plug and Play technology was devised for pervasive peer-to-peer network connectivity of PCs and intelligent appliances. It shares the service oriented architecture with emerging Web Service technology. It also has many advantages for future robot middleware such as automatic discovery of services and accommodation of dynamic distributed computing environment. This research paper presents some requirements and development results of the UPnP SDK for robot middleware. It also presents an experimental result of applying the UPnP to robot components.