 If you liked
Rozen Maiden
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 ...then you might like
Busou Shinki
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Both series involved living doll-jointed figures that go on adventures inside and around the house and protect their masters by contract. Rozen Maiden's heroines are living dolls created by magic while Busou Shinki's heroines are living figurines brought about through created by technology.
Both series have doll-jointed miniature girls with quirky personalities engaging in various antics appropriate for their stature to make for a cute, comic atmosphere. And in both anime, the girls are essentially paired up with (and live in the house) of a high school boy. The plots differ in thematic depth and style of presentation, but the characters are likable in similar ways.