MiRo has stereo microphones, one in each ear, as well as two supplementary microphones, one inside the head and one in the tail. The microphone inside the head can be used to aid rejection of self-generated noise (acoustic noise generated by the robot itself, for example by movement of servos). The microphone in the tail can be used to disambiguate localisation based on the stereo ear microphones behind sources in front of and behind the robot.