This study investigated the impressions people have when receiving instructions by using two robots with different appearances that automatically move at different distances within a workspace and give instructions to subjects. In particular, we clarified how factors such as the appearance of the robots and the sense of distance, including personal space, influence when task instructions are given by the robots through active communication from the robots in subjects in two age groups. The results of the experiment showed the likeability of the robot and the impression of distance from the robot when the robot gave instructions to a person, as well as the impression of warmth or discomfort toward the robot. The change in the impression of the robot throughout the experiment was also shown. The results also showed differences in impressions of the distance between different age groups, and differences in the final likeability of the robot through the interaction between the person and the robot between the two different age groups.