Transparency　and　stability　are　two　key　issues　in　bilateral　teleoperation.　In　this　paper,　We　propose　a　novel　control　framework　for　bilateral　teleoperation　of　nonlinear　robotic　teleoperation　systems　under　constant　communication　delays.　The　proposed　approach　utilizes　the　modified　wave　variable　method　based　on　the　adaptive　nonlinear　control,　the　master　and　slave　robots　are　directly　connected　over　the　delayed　communication　channels.　To　make　the　stability　of　the　system　independent　of　the　communication　delay,　two　nonlinear　adaptive　motion/force　controllers　are　bilaterally　designed　for　both　master　and　slave　manipulators　and　insured　its　passivity.　To　improve　the　transparency,　a　modified　wave　variable　method　based　on　Nimeyer-Slotine　wave　ways　was　used.　Simulation　results　are　presented　which　demonstrate　the　effectiveness　of　the　proposed　architecture.