For robotics to become more accessible to people not specialized in the area, it is of fundamental importance to improve and simplify the way people interact with robots. Despite human-robot interaction (HRI) being an effervescent research area, most of the works published so far on the use of gesture interfaces for human-robot communication do not clearly describe how the used gestures were elicited, thus hindering the reproducibility of those works. Considering this, we propose a new and reproducible Frustration-Based Approach (FBA), scientifically established on previous research, which can be used to obtain an intuitive and robust gesture vocabulary for HRI. To accomplish this, we propose Intuitiveness Level (IL), a score to rank gestures according with its intuitiveness. Using IL, it is possible to conceive a complex vocabulary, allowing an increasing of robustness, since more than one gesture can be associated to a task. In a general sense, the proposed methodology is not limited only for HRI, and it can also be used for human-machine interaction in general. In short, the contributions of this work are: (i) A complete methodology to elicit gestures to be used as intuitive communication interface between humans and robots. (ii) A metric of intuitiveness which takes into account at least three different characteristics about the elicited gestures.