With the development of modern science and robot technology，interaction between human and robot becomes more and more colorful. In order to implement more natural interaction between human and robot, this paper presents a method of somatosensory interaction. Using Kinect to accept the depth image of human action, then using skeleton tracking function to track the main point of human body, which will be processed by computer. Finally, computer send the joint angle to the robot controller wirelessly, let robot imitate human action. After experiment, the robot works well, it can react to human action. This method increases the efficiency of the interaction between human and robot, which also has a great application value.