Abstract
Home Oxygen Therapy (HOT) patients always need to take the conveyance cart to carry oxygen equipment when they go out. However the equipment is heavy enough to discourage the patients from their going out. Therefore we try to develop a mobile robotic cart in order to support HOT patient's going out. by applying Force control and Inverted pendulum control. In this paper, we describe the control principle of the robotic cart by several simulations using Open Dynamics Engine (ODE), and we also show the effectiveness of our proposed control method.
