We realized a humanoid robot which kicks balls in various directions using the yawing rotation of its waist and two thighs. It is capable of three kinds of kicks, toe, inside, and outside. For example, the toe-kick can hit a ball in front of the robot towards various targets. We conducted experiments to verify that the robot can kick balls placed in different positions effectively in various directions. We tested each type of the kicks changing the yawing angle of the kicking leg and investigated the relation between the angle and trajectories. We will present the kick methods and results of the experiments.