Vocally has been working on echo cancellation (the robot listens while it is talking). The implementation on Nao raised two problems. When Nao talks, it saturates the loud speaker and the acquisition of the signals from the loudspeaker and from the microphones is not synchronized. Aldebaran has to work on these issues. Aldebaran has developed an experimental protocol to have an objective way of evaluation the performances of the development made within the project.