This study integrated a Kinect motion-sensing device and Bluetooth transmission module into an image-processing interface for a personal computer in order to develop a human gesture-recognition system for controlling humanoid and wheeled robots through human–computer interaction. Initially, the gesture-recognition system was developed to control the movement direction of the wheeled robot and enable the humanoid robot to interact with humans (i.e., interaction mode) and imitate their movements (i.e., imitation mode). Finally, humanoid robot was controlled according to variations in joint angles.