In a guiding robot, it is said that it is desirable to realize a guiding action like a human being. However, considering actually using a robot, the guiding robot is a robot and the user should also recognize it . Therefore, unlike the case where the follower is guided to a person, it is conceivable to take a conscious movement guided by the robot.In this research, we conduct research for guidance considering behavior of human robot. We verify the effectiveness by implementing the speed control matching the walking speed of the follower by the proposed method. Impression evaluation on behaviors of human robots and research on behaviors [2] are also being conducted, and by incorporating these indices into control, we aim to perform control considering the behavior peculiar to robot guidance.