- A recent and fast evolving application for microphone arrays is the auditory systems of humanoid robots. These arrays, in contrast to conventional arrays, are not fixed in a given position, but move together with the robot. While imposing a challenge to most conventional array processing algorithms, this movement offers an opportunity to enhance performance if utilized in an appropriate manner. The array movement can increase the amount of information gathered and, therefore, improve various aspects of array processing. This paper presents a theoretical framework for the processing of moving microphone arrays for humanoid robot audition based on a representation of the surrounding sound field in the spherical harmonics domain. A simulation study is provided, illustrating the use and the potential advantage of the proposed framework.