An objective of natural Human-Robot Interaction (HRI) is to enable humans to communicate with robots in the same manner humans do between themselves. This includes the use of natural gestures to support and expand the information that is exchanged in the spoken language. To achieve that, robots need robust gesture recognition systems to detect the non-verbal information that is sent to them by the human gestures. Traditional gesture recognition systems highly depend on the light conditions and often require a training process before they can be used. We have integrated a low-cost commercial RGB-D (Red Green Blue – Depth) sensor in a social robot to allow it to recognise dynamic gestures by tracking a skeleton model of the subject and coding the temporal signature of the gestures in a FSM (Finite State Machine). The vision system is independent of low light conditions and does not require a training process.