This　paper　presents　an　operator　attitude　algorithm　for　an　isomorphic　master-slave　telerobotic　system　to　realize　motion　mapping　from　human　master　to　slave　robot.　The　human　attitude　is　measured　via　a　wearable　motion　capture　system　based　on　inertial　navigation　sensors　(INS),　which　can　be　used　as　motion　control　command　of　each　joint　of　slave　robot　with　a　humanoid　structure.　Experiment　are　conducted　on　the　telerobotic　system,　and　performance　analyses　on　attitude　algorithm　were　carried　out.　Results　show　that　the　proposed　attitude　solving　method　can　meet　the　requirements　for　fast　and　accurate　attitude　solution　so　as　to　make　the　slave　robot　follow　the　motions　of　human　operator　in　real-time.　©　2017　IEEE.