A control system which could finish the motion planning in real time was designed in order that the small humanoid soccer robot finishes some complex tasks in humanoid robot soccer competitions. The present study designed a humanoid soccer robot with 20-DOF based on the company Robotis’ Dynamixel series robot actuators. The main controller of the robot was designed based on high capability DSP chip TMS320F2812. The visual sensor subsystem CMUcam3 gathered and processed the image, and then sent the goal position to the main controller which finally finished path planning task. At present this humanoid soccer robot can stably walk in line, swerve and precisely kick the little ball in the environment of laboratory. In the future, we are focused on safely falling over, stand-up control, dynamic switch of different actions and multi-robot’s harmonious control.