The BINAAHR (BINaural Active Audition for Humanoid Robots) project proposes a psychoacoustic approach to active audition, and its validation on a robotics humanoid platform. Algorithms, hardware and software solutions will be defined to the defintion of auditory functions integrating the robot motion and its proprioception, first from a robotics approach then according to the sensorimotor contingencies theory developed by some members of the consoritum. The aim is to evaluate these approaches in terms of robustness and accuracy of the obtained solutions in uncontrolled variable and dynamic robotics environments. On the basis of these functions, modalities to the autitory h/r interaction will also be designed and integrated.