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Abstract—This paper presents a between-subjects elicitation study that aims to analyze the effect of culture on gesture-based human-robot interaction. In this study, participants from Brazil and other six countries are asked to perform gestures for controlling a mobile robot according to eight given tasks. The movements proposed are recorded and classified by the researchers, who statically assess the agreement level between the two groups. The results show that the culture does not influence the type of gesture used, but it may have an effect on the preferred gesture when the task has a cultural core. The study also highlights that the little experience of the public with robots, regardless of its cultural background, may hinder the interaction when it is required abstract commands.