Abstract: A lot of autonomous robot has been developing in the world. However, almost robot are toy like, there are many restriction to use robot in human environment. ASIMO is most advanced humanoid robot that has potential supporting human activities on daily. Honda has been a good engineering work to make reliable hardware and system since 1986. However, a capability of ASIMO is still limited to do in general environment where people is living. Which technologies are important to get a performance doing daily tasks? Honda Research Institute USA, Inc (HRI-US) is focusing on intelligent function of robot that a capability of human-robot interaction, sophisticated task planning, dynamic machine control based on computer vision, recognition, scene understanding, stochastic based planning, and integration system. I’ll show results of our research that the capability of human robot interaction based on computer vision techniques. And then I’ll discuss also which technology will be key for future robot in order to be useful robot to support human activities.