Based on social background such as aging and diversification of individual's lives, we propose the concept of Biofied building. The Biofied building is a concept that provides a safe, secure and comfortable space for residents by using small robots. The small robots used in the Biofied building sense the human position and motion. However, in the current system it is difficult to prevent accidents such as falls. The robots are not designed not disturb residents. Therefore, in this research, in order to realize more natural space control of the robot, the purpose is to incorporate motion prediction in the system in addition to motion recognition. Many conventional motion prediction methods use RNN (Recurrent Neural Networks), which is considered to be difficult to implement due to the necessity of big data and the large calculation cost. Furthermore, in RNN, it was a problem that physical constraints of the human body were not taken into consideration. Therefore, this study aims to propose a simple motion prediction method using a human body model based on dynamics.