Depends on the translation as far as I can tell: NIV has Michael saying "disrobing in the sight of his slave girls", NAS has "uncovering himself today before the eyes of his servants' female servants" and Douay-Rheims has "uncovering himself before the handmaids of his servants, and was naked, as if one of the buffoons should be naked".
Your mileage may vary according to translation.
As far as having royal pretensions, David basically did an in your face! to her by saying (in verse 21) "It was before the LORD, who chose me rather than your father or anyone from his house when he appointed me ruler over the LORD's people Israel--I will celebrate before the LORD."
What I'm not sure of is whether her barrenness was due to the Lord or to David giving her the cold shoulder: he certainly had enough other women to choose from as time went on. (See also Bathsheba and Nathan's warning to David in 2 Samuel 12; and the fulfillment of verse 16, during Absalom's rebellion, when David's counselor Ahithophel's directed that Abasalom sleep with all of David's concubines.)
Cheers!
14 Then David danced before the LORD with all his might; and David was wearing a linen ephod.
15 So David and all the house of Israel brought up the ark of the LORD with shouting and with the sound of the trumpet.
16 Now as the ark of the LORD came into the City of David, Michal, Saul’s daughter, looked through a window and saw King David leaping and whirling before the LORD; and she despised him in her heart.
17 So they brought the ark of the LORD, and set it in its place in the midst of the tabernacle that David had erected for it. Then David offered burnt offerings and peace offerings before the LORD. 18 And when David had finished offering burnt offerings and peace offerings, he blessed the people in the name of the LORD of hosts.
19 Then he distributed among all the people, among the whole multitude of Israel, both the women and the men, to everyone a loaf of bread, a piece of meat, and a cake of raisins. So all the people departed, everyone to his house.
20 Then David returned to bless his household. And Michal the daughter of Saul came out to meet David, and said, “How glorious was the king of Israel today, uncovering himself today in the eyes of the maids of his servants, as one of the base fellows shamelessly uncovers himself!”
21 So David said to Michal, “It was before the LORD, who chose me instead of your father and all his house, to appoint me ruler over the people of the LORD, over Israel. Therefore I will play music before the LORD. 22 And I will be even more undignified than this, and will be humble in my own sight. But as for the maidservants of whom you have spoken, by them I will be held in honor.”
23 Therefore Michal the daughter of Saul had no children to the day of her death. Footnotes: