Abstract: This paper discusses reinforcement learning(RL)algorithm and its application to technical action learning of soccer robot.In RL,since the state space and action space are too large or their variables are continuous,the learning speed are too slow and it is usually too hard for learning to converge.To solve this problem,an RL method based on T-S model fuzzy neural network is proposed,which can effectively perform the mapping from the state space to the action space of RL.Furthermore,the proposed method is used to design technical actions of soccer robot,and behavior learning of the robot without expert knowledge and environment model is discussed.Finally,experiments are made and the results show that the presented method is effective and it can meet the demands of robot soccer match.