Remote controlled mobile robots are useful in ultimate environment, such as outer space, disaster site, atomic furnace and so on. There are many researches about mobile robots using audio-visual information, but researches using force sensation is not very studied. The mobile-hapto, which is the remote control system with force information, has been proposed, but the robot used in the system has only two wheels and a caster. So, the robot cannot acquire much information and run over rough road. In this research, first, the multi-degree-of-freedom mobile robot, which is a three-wheeled robot, has been developed. It has a rotary motor in each wheel and a linear motor between body and each wheel. It can acquire horizontal and vertical information. Second, remote control with force feedback of the multi-degree-of-freedom mobile robot using joystick-form control system was realized. The validity of this system is confirmed by an experiment.