Introduced in 1956 and updated in 1959, the scooter was produced by Ateliers de Construction de Motocycles et Automobiles (ACMA), the licensed assembler of Vespas in France at the time.

[1] Modifications from the civilian Vespa included a reinforced frame and a 75 mm (3.0 in) recoilless rifle mounted to the scooter.

[1][2] The 150 TAPs mounted a M20 75 mm recoilless rifle, a U.S.-made light anti-armour weapon.

The scooters would be parachute-dropped in pairs, accompanied by a two-man team.

Due to the lack of any kind of aiming devices the recoilless rifle was never designed to be fired from the scooter; the gun was mounted on a M1917 Browning machine gun tripod, which was also carried by the scooter, before being fired.