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The traditional dynamic gesture recognition method based on vision in the field of human-computer interaction is not accurate enough and is easily affected by different intensity of light. Firstly, the depth image collected by Kinect sensor is used to segment the gesture, and the gesture centroid and gesture trajectory feature are calculated based on moment and chain code, and the gesture trajectory feature is recognized by dynamic time warping algorithm. Finally, the recognition results are transmitted to hexapod robot for human-computer interaction experiment, and the control of hexapod robot by dynamic gesture is realized. Experimental results show that the recognition accuracy of this method is up to 97% and is not affected by the light, and it has strong robustness and meets the requirements of human-computer interaction.