Given that human-like robots are finding their place in different areas of our world, research is being carried out in order to improve human-robot interac-tion. Humanoid robots not only require a human appearance but also require human-like movements. Along these lines we present this project which tries to address the question of human to robot arm mapping with the objective to control in real time and to teach a robot by imitation. For the technical implementation we have worked with a SR3000 ToF camera to sense the human movements which allows us to perform a marker-less arm tracking based on depth information. The robot used is a Robotis Bioloid; still, the software has been designed to be adapted with few modifications to other robots having similar arm structures.

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