The authors describe their research concerning relationships between gesture and musical language. Through examples of live electronic performance, interactive music, theatre, sound installation and musical robots, they give us with high-level and qualitative analysis of human movement. Beginning with a presentation of early research in this domain (Laban and Lawrence 1947, Camurri and Hashimoto 1997), they proceed to their own research which commenced in 1984. To conclude, they present their EyesWeb project, a system for interactive performance with dance and music.