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This paper proposes a robotic walking-aid system which aims to provide mobility assistance and remote monitoring for the elderly or the disable. The robotic system is able to provide physical support and guidance while avoiding static and dynamic obstacles. To effectively solve different situations against obstacles, a training stage of learning human user-adaptive characteristics is adopted. Through wireless communication and localization technique, the user operation status, including the position of robot, can be monitored by the server. In this server, we also develop a call-to-come service for the robotic system. The experimental test-bed has a cart-based configuration with a nonholonomic differential drive mainly for forward direction. Experimentation and evaluation are presented to present the validity of the developed robotic system.