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From Kazuhiro Nakadai:

Thank you for your interest in HARK. Usually, we are using an 8 ch circular microphone array around the top of the humanoid's head. In this case, the most important thing is that sounds from all channels should be recorded synchronously. One of the easiest choices is to use RME hammerfall series which support multi-channel synchronous A/D conversion. We use RASP series developed by System-in-Frontier Inc, which supports HARK originally, and differential type of MEMS microphone is available for this device, but it is a little bit expensive (RASP series costs 8,000 USD, MEMS microphone costs 100 USD for each.)HARK will support 2-microphone processing (binaural) soon, but the performance will be poor compared to 8ch microphone array.