Recently, AI equipped robots, smart speakers have appeared in homes, opportunities to come into contact with robots in general households and towns have increased, and various people also have a high possibility of controlling robots. To be able to control the robot smoothly, the robot side needs to understand human intention. In this paper, we propose a system that controls a robot from human ambiguous instructions and images of feet. In this system, Raspberry Pi, USB microphone and USB camera are attached to the mobile robot for control. Control of the robot is performed only with body direction estimated by feet image of the user and voice instructions without attaching special sensors. Ambiguity in speech recognition that do not limit the target using the directive are recognized. Experimental results of 93% success rate when we conducted 10 experiments of here shown the effectiveness of the proposed method.