This paper introduces a mobile humanoid robot platform which is able to understand humans' speech commands in their everyday environments. For service in more complicated and varied environments, the robot must operate efficiently under active auditory perception system to ensure a coordinated human-robot system. We enhance the efficiency of the control system by developing a speech commands scheme, and integrate it into the teleoperation. In order to eliminate the time delay in the communication channel, we incorporate and modify the event-based motion control into the robot. It drives the system to achieve the best possible motion.