A human-robot system in which a mobile robot follows the movement of the laser spot projected on the floor by the laser pointer attached at the human head is considered. Human gives instruction of desired movement to the robot by rotating his or her head. Robot can realize intended movement by following the movement of the laser spot on the floor. Kansei controller is introduced between the instruction movement of the laser spot and following motion of the robot to realize psychologically acceptable motion of the robot. In addition, three modes, stopping mode, following mode, and parameter adjustment mode for the Kansei controller, are considered. The effectiveness of the proposed system is discussed experimentally, and confirmed by the smooth trajectory of the following motion of the mobile robot and good psychological evaluations.