Domestic healthcare is becoming more and more important as the population is growing older. The last technological progresses enable numerous possibilities for monitoring and helping users in their everyday lives. Robotics and smart home are two distinct examples. They both provide great features and possibilities, but also limits. This work addresses the combination of robots and smart home. In this paper, we present a robotic framework that relies on the smart environments strengths. We tackled numerous challenges encountered by the robot for perceiving, reasoning and acting at home and that are critical for healthcare applications. Consequently, multiple solutions are presented and evaluated through both simulation and physical tests.