  In this paper, we present the probably first application of the popular
\emph{Dynamic Movement Primitives (DMP)} approach to the domain of
soccer-playing humanoid robots. DMPs are known for their ability to imitate
previously demonstrated motions as well as to flexibly adapt to unforeseen
changes to the desired trajectory with respect to speed and direction. As
demonstrated in this paper, this makes them a useful approach for describing
kick motions. Furthermore, we present a mathematical motor model that
compensates for the NAO robot's motor control delay as well as a novel minor
extension to the DMP formulation. The motor model is used in the calculation of
the Zero Moment Point (ZMP), which is needed to keep the robot in balance while
kicking. All approaches have been evaluated on real NAO robots.
