The early history and basic design concept of our robot has been explained in a report Jon Pillai wrote for the Royal Academy of Engineering. The report can be found in the Archive.
IC has two big wheels joined by a large axle. A heavy vertical spinning disk serves as it's sole weapon, powered by a Bosch 750W motor that spins at about 1000 rpm. Originally, the disc was powered by two Bosch motors, but due to weight difficulties we had to remove one of them.
Below are shots of the original (now long lost!) CAD drawings of IC
IC is an invertable axlebot. Invertable, meaning which ever way it lands, it can move freely; and axlebot, referring to the single axle around which the robot is built.