Several members gave advice on the "belly rope" technique of kick prevention. We have a 7 year old that we will attempt to milk for the first time.....she can kick your hat off when she gets going.
I found this. It has some good "in pasture" options for restraint if necessary. I will deflect the, nearly certain, retorts that restraint is not the best option.....treat your cattle well....gentle them as much as possible....and only resort to restraint if all other options are unavailable or impossible.
This is a nicely detailed set of descriptions, meant for the Veterinary student.
If it won't open for you...it is a WORD Doc, I can copy and put on one of our sites and then supply a link.