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For the problem that traditional shooting algorithms of biped robot only can be used in a certain fixed shooting angle in a fixed shooting posture, a fuzzy control shooting algorithm which based on the a simple three-dimensional linear inverted pendulum is proposed. Firstly, the zero-moment (ZMP) trajectory and the center-of-mass trajectory are planned according to the simple three-dimensional linear inverted pendulum model. Secondly, a biped robot is used to adjust the direction and angle of the soccer robot in the support of the legs and plan the leg trajectory by Bezier curve simultaneously. Finally, a shot trajectory is planned based on a fuzzy control method. A simulation system is used to simulate the shooting motion of a NAO robot, and comparisons with other teams were made. Finally, a real NAO robot is used in the actual shooting experiment of the whole shooting process and multi angle shooting, and the experiment results have verified the feasibility and accuracy of the proposed algorithm.