For communication robots, it is important to find a communication partner and attract his or her attention in our daily environment. In this paper, we propose a method for communication robots to find a human actively and attract attention in order to communicate with human. We apply Markov chain Monte Carlo Algorithms
(MCMC) to human detecting and tracking behaviors with a humanoid robot that has 4 types of sensors. Thus, by utilizing our method, the robot can find and track human with irregular motion in complicated daily environment. While tracking human, it tries to attract attention by verbal and nonverbal communication. We verify the validity of our method by performing experiments with a humanoid type communication robot, named Robovie.