Home use robots and service robots have been expected for the society of the aging and the falling birthrate. However, a lot of disturbance avoiding the robot's activities exists in such an environment. Universal Design with Robots (UDRob™) has been proposed to cope with these problems in our daily life environment using the concept of universal design. Here, interface designs for mobility, handling, and image processing are especially considered in the concept. Conceptual design of the robot system based on UDRob™ and the interaction design has been shown here.