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The First Robotic Cheerleaders
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These Lego robots are based on the adorable Cheerleader Minifigure. They actually can dance to the beat of the music! Watch the video to see how that works.
About this creation

Video


Enjoy this video. It’s a story about cute cheerleaders that turn out to be excellent engineers.

Cheerleaders


This adorable cheerleader belongs to the very first LEGO Collectable Minifigures. Unfortunatly she can’t dance. To bring her alive the robotic cheerleader “Mindy” is created. The robot is 9 times bigger than the Minifigure and loaded with Lego Mindstorms technology. After feedback on MOCpages the prototype went for a makeover to get more feminine looks.


Three cheerleader robots are created, each with a different hair cut. Together they form the team “First Robotic Cheerleaders” (FRC).

Robot Design


Each robot is balancing on only 2 wheels. A gyro sensor from HiTechnic (certified & sold by Lego) is used to detect unbalance. The Mindstorms NXT computer calculates the required power to the wheels, to prevent that the robot falls over.


With a weight of 1.3 kg & height of 35 cm it’s a big challenge to stay in balance. The fast dance moves make it even more difficult. Light weight construction techniques and a low point of gravity are used to get good performance.
The right arm is directly driven by a servo motor. A slip clutch with end stoppers is used for the left arm, which enables each robot to move both arms out of phase.

Robot Software


The cheerleaders are programmed in NXT-G (the standard NXT program language).
The software part for balancing is based on an algorithm by HiTechnic, that can be downloaded at www.hitechnic.com. Changes and extensions are mandatory to handle the robot mass & size. For instance, to deal with vibrations that occur due to play between the internal gears of the servo motors.


All dance moves are programmed in the cheerleaders memory. A position control system is developed to ensure that all cheerleaders dance in formation. Wheel displacements are measured and used to calculate the robot position and orientation on the dance floor. By means of a proportional algorithm the desired position and oriëntation of each robot is achieved.
Each robot applies a second external NXT computer to synchronize the dance steps to the beat of the music. Different songs & dances can be selected on the external NXT. Communication between the NXTs is by Bluetooth.

Video set


Video set with many Lego Factory buildings like the cool Pet Shop.


Our video stars Mindy, Ed & Olivia.


Build your own robot!
Arjen Vuurzoon.



Comments

 I like it 
  June 8, 2014
great job!:D
 I like it 
  June 8, 2014
Awesome build! I just hope they don't try and take over!
 I like it 
  June 8, 2014
this just blows my mind! the balance and synch is incredible! very impressive, bravo!!!
 I like it 
  December 10, 2013
Wow, that's crazy impressive, awesome job!
 I like it 
  November 4, 2013
Good job, but the arms could be a little thicker though, the pom-poms could be made out of Lego and the hair could be longer but other than that good job.
 I like it 
  September 11, 2013
Oh that's weird that I posted that many "awesome!"'s...well more likes.....very cool what you've done here!
 I made it 
  June 28, 2013
Quoting Ape Fight Brilliantly nuts! The movement is pretty good too. They're on The Lego Car Blog this week by the way, congrats!
Thankx Ape Fight! Great that our robotic cheerleaders are on the Lego Car blog: http://thelegocarblog.com/2013/06/22/and-now-for-something-completely-different/
 I like it 
  June 28, 2013
Brilliantly nuts! The movement is pretty good too. They're on The Lego Car Blog this week by the way, congrats!
 I like it 
  June 25, 2013
This is crazy! Wow.
 I like it 
  June 25, 2013
An absolutly epic construction. Extremely well done!!! One of the best projects I have ever seen.
 I like it 
  June 24, 2013
Absolutely brilliant, your Mindstorms prowess never fails to amaze.
 I like it 
  June 23, 2013
Wow!!!
 I like it 
  June 23, 2013
Excellent!
 I like it 
  June 22, 2013
Excellent robotic cheerleaders!Very nice movie too!! congratulations Arjen.
 I like it 
  June 22, 2013
awesome!!
 I like it 
  June 22, 2013
awesome!!
 I like it 
  June 22, 2013
awesome!!
 I like it 
  June 22, 2013
awesome!!
 I like it 
  June 22, 2013
awesome!!
 I like it 
  June 22, 2013
awesome!!
 I like it 
  June 22, 2013
Hideous hi-tech hidden in a delicious show. These ladies defeat gravity and control theory. Brilliant.
 I like it 
  June 22, 2013
Engineering genius and creative genius. Genius!
  June 22, 2013
Excellent video! Fantastic design! Nice to see it ready now!
 
By Family Vuurzoon
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