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Recently, there are many research works about robot middleware of client-server system on distributed system environments. These research works have been focusing on integrated development, management, and application of robot services. Robot middleware should generally provide the capability to make various robot services to be easily reused and created. Therefore, it is necessary for robot middleware to make it possible to support reusability and composition of robot services. In this paper, we propose middleware architecture to reuse and compose various robot services. The proposed middleware architecture is based on RSEL, which is a robot services execution language that composes and executes robot services. In our experiments, we showed that the suggested middleware could support the reusability and composition of robot services with an example of guide - robot services.