We proposed a robot system for handling various objects in home or office environments. A manipulator utilizes artificial marks on objects for handling and motion planning. The artificial mark consists of two parts. One is the outer part, which indicates its pose (3D position and orientation), and the other is a QR code, which is a kind of 2D barcode. The QR code is stored information of an object (e.g. its name). A user attaches several artificial marks on each object. The manipulator accesses the information using a camera on its hand. The robot can decide its complex handling motion based on the information in QR codes, pose of the objects, which are estimated from pose of marks, and signals from proximity sensors.