This paper proposes that bidirectionality in implicit motor coordination between humanoid robots and humans could enhance the social competence of human–robot interactions. It first details some questions pertaining to human–robot interactions, introducing the Uncanny Valley hypothesis. After introducing a framework pertinent for the understanding of natural social interactions, motor resonance, the study examines two behaviors derived from this framework: motor coordination, investigated in and informative about human–human interaction, and motor interference, which demonstrate the relevance of the motor resonance framework to describe human perception of humanoid robots. These two lines of investigation are then put together to “close the loop” by proposing to implement a key feature of motor coordination, bidirectionality, in robots’ behavior. Finally, the paper discusses the feasibility of implementing motor coordination between humanoid robots and humans, and the consequences of this implementation in enhancing the social competence of robots interacting with humans.