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This paper describes a 4-legged walking robot that is navigated by human gesture. The navigation process is composed of two phases. The first is a human following phase. To follow a human, this robot tracks a human head by visual tracking system. And the latter phase is the recognition of human gestures. To achieve reliable and real-time recognition of the human gesture, we focus o n such gestures expressed by cyclically repeated motion of the hands. W e shows how these'gestures are recognized successfully to control the 4 legged robot.