The Cheerleader Minifigure is adorable and now she can dance too! It’s Mindstorms technology that brought her alive. Watch the video to see Mindy dance to the music.
About this creation
Video: Robot Mindy dancing to the beat of “Alpha One”. Meanwhile a complete robot team is created! Follow the link to enjoy the First Robotic Cheerleaders.
This cute Cheerleader belongs to the very first Collectable Minifigures.
Mindy is 9 times bigger than the Minifigure. She’s made from 1000 Lego bricks.
The pom-poms are from wool.
Mindy 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 Mindy 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 Mindy to move both arms out of phase.
The construction is build modular.
Mindy is 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 Mindy’s 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 Mindy’s mind. Different dances can be created using the same set of dance functions. A second NXT computer is applied to synchronize Mindy’s dance steps to the beat of the music. Communication between the NXTs is by Bluetooth.