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This paper discusses a Robot Partner System for Interactive communication with Human using sensor network. Basically, the robot has a sensor to detect object in the environment. However, the equipped sensors on the robot are not enough to obtain the information about the person and the environment. Therefore, sensor networks are applied to the robot system for calculating human and environment states. We propose a database system on informationally structured space to communicate with human. In this study, the communication system consists of three parts. The first mode is information support; the second one is daily conversation; the third mode is scenario-based conversation. We applied robot partners in real environment for elderly people who are living alone at home. The experimental result shows the effectiveness of the proposed method.