Use cones for goals or make goals with PVC pipe. Kicks must generally be made with the knees, not the feet. The feet can only be used if the kick is executed as part of a tenkan. No off sides. No scores on throw ins.
All penalties are indirect kicks.
Otherwise FIFA rules apply. Roll up a section of newspaper and wrap it with duct tape. Students will tend to actually strike at nage's head, allowing real blending and use of uke's energy. Execute complete techniques without an uke. We are compiling a list of Aikido Games to be published in the future.