Generally, it is possible to control the motion by using information on the robot's own postures, because a type of motion and gesture produces almost the same pattern of every time. In this paper, we describe a voice recognition control system for robot system which can robustly recognize voice by adults and children in noisy environments. We evaluate the performance of robot control system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. To suppress interference and noise and to attenuate reverberation, we implemented a multi-channel system consisting of an outlier-robust generalized side-lobe canceller technique and a feature-space noise suppression using criteria. Voice activity periods are detected based end-point detection.