A typology of gesture is presented based on four parameters: whether the gesture necessarily occurs with the verbal signal or not, whether it is represented in memory or created anew, how arbitrary or motivated it is, and what type of meaning it conveys. According to the second parameter, gestures are distinguished into codified gestures, ones represented in memory, and creative gestures, ones created on the spot by applying a set of generative rules. On the basis of this typology, a procedure is presented to generate the different types of gestures in a Multimodal Embodied Agent.