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The usage of robots becomes more sophisticated, direct communication by means of human language is required to increase the efficiency of their performance. However, the dialogue systems that reply to the user with a set of predefined answers tend to be static. In this paper, we propose a gesture based dialogue system using behavior network for flexibility of human robot interaction. Gestures take an important part of interactions. By using gestures in dialogues, it could support a flexible and realistic interaction with humans. We confirm the usability of gestures through several scenarios and SUS subject test.