Robert Irwin isn’t dancing around making his health a priority.

Speaking with PEOPLE for an exclusive interview at theZootopia 2premiere in Los Angeles on Nov. 13, the 21-year-old son of the lateCrocodile Hunterstar Steve Irwin revealed three methods he’s using to stay healthy while competing onDancing with the Stars‘ season 34.

“I am being held together by, like, tape, and my foot’s all bandaged up,” he said, before sharing his physical self-care routine. “I’ve been doing all of the cryotherapy and the saunas and the Epsom salt baths, and, like, everything I can possibly do to try and keep my body in line.”

Robert continued with a laugh, “Because, woo, it’s starting to break down a little bit, but I wouldn’t change it for the world.”

Robert, a fan-favorite onDWTS, has taken on grueling dance genres with his partner Witney Carson since the latest season premiered in September.

“You know, the fact that you get to give yourself 100% to this process to pour everything into it, it is just such a privilege,” he said. “I’m kind of becoming a dancer. Like, it’s a crazy, crazy thing to do in three months.”

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Robert’s mom, Terri Irwinand his sister, Bindi Irwinhave supported him throughout the season, including by making cameos during two emotional dances.

In October, Terri, 61,

at the end of his performance to Phil Collins’ “You’ll Be in My Heart,” which Robert dedicated to her.

Most recently,

finish his performance to Leona Lewis’ “Footprints in the Sand” on Nov. 12.

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“My family’s here with me every step of the way,” Robert told PEOPLE. “My sister, who of course, you know, won season 21, she’s with me, and she’s giving me so much advice.”

Dancing with the Starsairs on ABC.