We explore the use of timed I/O automata for the searching problem in navigating and searching dynamic environments with humanoid robots. An operator gives commands to the robot to search and look for a ball. Then, the robot starts browsing its environment in search of the specified object. We designed timed input/output automata to perform tasks such as object detection, searching, and speech commands and implemented them in the Nao robot. The proposed framework is easy to implement and our experiments confirm that it is effective for timed-critical robotic tasks such as Search and Rescue applications.