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Recently, many ICT companies as well as researchers are taking an increasing interest in robot services using cloud computing, and various service platforms for them have been proposed. From these backgrounds, we have proposed a distributed service framework using Robot Service Network Protocol (RSNP) to integrate various devices including robots with internet services. The key mechanism of the proposed framework is a robot assignment function, which discovers distributed robot resources and assign the requested tasks by end users to suitable robots. In this paper, we implement a prototype system on the proposed framework, and conduct implementation evaluation using the system.