This paper describes two circular microphone arrays and a square microphone array which can be used for sound localization and sound capture. Sound capture by microphone array is achieved by Sum and Delay Beam Former (SDBF). Simulation of sound pressure distribution of 32 & 128ch circular microphone array and 128ch square microphone array are shown. According to simulation results, dedicated PCI 128-channel simultaneous input board and Firewire (IEEE1394) 32-channel board are developed with maximum sampling rate of 44.1kHz and 11.025kHz sample respectively. Then a 32ch circular microphone array and a 128ch square microphone array have been developed. The 32ch circular microphone array can capture sound from an arbitrary direction. The 128ch square microphone array can capture sound from a specific point. Both systems are evaluated by using frequency components of the sound. The circular type system will be used on a mobile robot including humanoid robot, and square type will be extend towards room coverage type application.