Together with three other students, I built a dancing robot system during our half-year Human Media Interaction Project course. The project aims at creating a co-creative interaction between humans and robots through developing a dance together, which the robot carries out in real-time. Using a Zumo robot base, we have programmed an Android App, which allows to control robot movement through gestures drawn on the tablet. We have developed the system in three iterations, starting out with a pilot and idea generation phase involving future users. Based on requirements identified in this pilot study, we set out to build a prototype, which we subsequently tested in two user studies, making important improvements between the two user studies.