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This article presents a proposal of impedance controller, which is able to infulence the compliance of a robot, based on information obtained from a lowlevel controller about robot interaction with the environment. The proposed system consists of a lowlevel controller with proximity sensor, based on which mechanical impedance is adjusted. The intention of the creators was to develop a universal impedance regulator in the sense of hardware and software layers. Because of TCP/IP architecture, thedoi:10.14313/jamris_4-2013/13 fatcat:a4as7vrgkfcvjgmuyzsaou43k4