This paper describes development of home-use automated container storage/retrieval system, a sub-system of a logistical support robot system in living space. The s/r system has 3 features. (1) Elevator type structure enables not only auto stocking motion, but also human access to containers as if the auto rack is a general shelf. (2) A separated motion layout enables us to utilize upper ceiling space as a stock space, and decreases possibility of accidental stuck by reducing the volume of robotpsilas motion. (3) The collaboration of a container guide plate and sensing with RFID actualize to navigate people to place a container on a shelf with desired position and posture. By experiments, it is confirmed that the ACSRS can transfer a container and 5 [kg] load (total 8 [kg]). We summarize significant technical points to design a system of this type.