I can confirm Philipp's report, the i8042 boot options did not help.
I'll try Herd 2 when I have some time. In the meantime, here's a diff
between two dmesgs. The first boot is a normal PS2  boot which results
in no keyboard. The second boot was exactly the same but I kept pressing
Ctrl to make it recognize the keyboard.

** Attachment added: "Diff: PS2 boot without and with keypresses"
   http://librarian.launchpad.net/5997441/diff

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PS2 keyboard problem
https://launchpad.net/bugs/54836

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