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This paper introduces a knowledge model-based intelligent coordinative network platform (K-ICNP) for service robot system. A service robot system is a kind of symbiotic autonomous human-robot system. It is comprised of various types of robots. Different features of these robots for various purposes always cause difficulty to implement their cooperative operations. Particularly, behaviours of robots in this system are required to follow human commands. In this study, a knowledge model-based intelligent coordinative network platform was developed. The core of this network platform is a knowledge model of service robot system, which is defined by use of frame-based knowledge representation, including features of different types of robots, activities of human-robot interaction, operations of robots, etc. With the use of K-ICNP, the coordinative control of service robot system can be implemented according to human commands. In this paper, the effectiveness of K-ICNP was verified by the simulation considering actual scenarios of activities of service robot system comprised of humanoid robots, mobile robot and entertainment robot.