In recent years, Japan is facing a problem of an aging society with a falling birth rate, and the number of elderly people living alone is increasing with the problem. To guard against social isolation and to connect another person, some adequate ways to ensure linkages to people who care are promising. Our solution for the problem is to propose a system based on simple interactions using a house cleaning robot. This paper presents the concept for developing the system, expected functions, prototype system, and preliminary experiments of robot positioning. In addition, the users' impressions of the system are finally evaluated.