I made a VEX IQ version of R2D2 a little while back and while it was a lot of fun, it wasn't quite right. I built it just using the parts I had on hand and as a result it ended up predominantly grey.
See it here - http://www.damienkee.com/home/2016/7/8/vex2-d2.html
Cue version 2, in the appropriate blue and white that you would expect from R2-D2 :)
The head is a *little* bit better than V1, but it is still really difficult to do a dome with the VEX IQ parts.