In this article, the method of hard rock mining by undercutting or back incision using asymmetrical disk tools as an alternative to the milling method with the use of cutting tools was described. The results of modelling the penetration of a single asymmetric disk tool edge into an artificial and natural rock sample were presented and compared with empirical laboratory tests. The effect of stand tests for mining artificial rock samples using asymmetrical disk tools mounted on the rotating plate was presented. The tests were carried out on two unique test stands. The solution of an innovative mining head with a complex motion trajectory, using the asymmetrical disk tools, was presented. The innovative mining head especially developed at the AGH Kraków Department of Machinery Engineering and Transport for roadheaders, was presented. The results of preliminary field tests with the use of this mining head were also described.