In recent years, high-precision works in a distant place have been enabled by using bilateral control systems. The surrounding environment of the space that the human live is shape suitable for how to get around of the human. For example, it is stairs. However, the wheel movement is general in a distant place. Therefore a walking-sensation feedback control system is proposed for a remote operation of the bipedalism in this paper. When a biped-type slave system done remote control walks, haptic information is fed back to an operator by using the proposed control system. Therefore operability is improved. Besides a proposed control system in this paper is positioned as the beginning of the research for the realization of a walkingsensation feedback system. Finally, the viability of the proposed control system is confirmed by experimental results.