In　order　to　improve　the　match　success　rate,　we　proposed　a　penalty　kick　strategy　based　on　two-player　collaborative　shooting　method　which　is　used　in　two　different　defense　patterns.　In　this　strategy,　a　self-rotation　shooting　method　is　applied　when　the　opponent　goalkeeper　run　out　to　destroy　the　ball　and　a　reflecting　shooting　method　is　used　when　the　goalkeeper　stays　at　the　goal　line.　The　SimuroSot　SvsS　Simulation　experiments　were　conducted　on　the　Robot　Soccer　v1.Sa　platform.　Experimental　results　show　that　the　proposed　method　can　get　a　good　match　success　rate.　©　2010　IEEE.