[Deneb]

Typically, the best way is to find how humans thrown them most effectively and mimic that motion. There is freedom with throwing spherical objects such as catapults, "punches", or wheels. Frisbees offered a fairly simple solution where nearly everyone agreed that wheels would be the best for giving a spinning motion to allow the disk to fly. However an object such as a(n American) football, would (theoretically) need the spiral motion applied then a human throws in addition to a forward thrust as well. Personally, I don't see the spiral being enough without additional thrust being applied.

It would also be important to explore other aspects unlike the human process. Humans don't throw T-shirts with pneumatics--robots do.