To make a robot team perform a soccer game; various technologies must be developed. To date; we constructed a multi-sensor based mobile robot for robotic soccer research. Based on this platform; we have implemented some behaviors for playing soccer and the vision system with on-line visual learning function. This year; we refine behaviors for playing soccer since we improve a motor control system. Furthermore; we put an omnidirectional camera in addition to an active vision system so as to enlarge view of our soccer robot. This paper presents the design methodology of our robots.