Virtualization of the POs is a key requirement for IoT infrastructure. It enables digital representation of objects and acts as an interpreter between the physical and the virtual layers of the platform. A layered object-virtualization approach [15], [16] is adapted in this work to ensure interoperability and reusability of VOs. A two-stage virtualization process is carried out at the robot and the remote DMH to provide digital representation for all PO of the proposed platform.