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We propose a human support system by a humanoid robot in the living environment. For supporting humans, the robot has to follow a human in order that he/she can give commands to the robot at any time, anywhere. In this paper our target is to develop a system in which a human can command the robot to pick up daily objects and to deliver the objects to him/her. Using the sensorized living environment, where a lot of ultrasonic sensors are distributed on the walls and the ceiling, the robot can obtain the 3-dimensional positions of human and the targets. The robot performs these tasks using the information and other information obtained from devices that are equipped with the robot.