Studies have shown that the appearance and movements of home robots may play key roles in the impression and engagement of users, opposed to recent rises in the smart speaker market. In this research, we conduct a user experiment with the aim of clarifying the elements required to evaluate the human impression of a robot’s movements, based on the hypothesis that adequate movements may lead to better impressions and engagement. We compare the impressions of participants who interacted with a robot with movements (behavior robot) and a robot without movements (non-behavior robot). Results show that when using the behavior robot, participants showed significantly higher values in their impressions of cheerfulness and sociability. Questionnaires about interaction revealed that personalization is also an important function for robots to make a good impression on humans.