This paper develops a Google Glass-based system to achieve hands-free remote control of humanoid robots. This system transforms operator's head movements into control instructions via a rotation vector sensor mounted on the Google Glass. When a head movement is detected, the corresponding control instruction is sent through WI-FI to the robot. In order to verify the system, this paper designs an experiment in which an operator navigates a Nao humanoid robot with obstacle avoidance. The result shows that the robot is able to smoothly pass by all obstacles and walk to the destination without need for operator's hands.