The goal of this paper was to accomplish a technical challenge of double passing soccer game for humanoid soccer robots in RoboCup competition. Using only a vision sensor, the control strategies for the technical challenges of humanoid league in RoboCup are designed and presented. The vision system includes the color space setting, the object recognition, a simplified mean shift algorithm, and the target position derivation. Vision system works on the tasks of object recognition, which includes the goal, landmark poles, and the interval of two black poles. The computational time is reduced greatly by the mean shift algorithm and that time can be utilized to do other control strategies. With the proposed control strategies, humanoid robots can successfully complete the RoboCup double passing task. The successful experiment results demonstrate the feasibility and effectiveness of the proposed foot-eye coordination control scheme.