In　this　paper,　a　bilateral　teleoperation　system　(BTS)　is　proposed　for　planetary　rover　remote　control　and　operation.　This　is　a　continuation　of　the　work　presented　in　[11]　on　computer-simulated　virtual　environment,　that　can　be　used　as　a　predictive　display　module　in　the　BTS.　In　the　proposed　system,　a　haptic　device　is　used　by　the　human　operators　to　control　planetary　rovers　as　driving　a　car.　Dynamic　model　of　the　rover　is　used　and　a　passive-based　bilateral　teleoperation　scheme　is　adopted　to　achieve　the　stability　of　the　close-loop　control.　Kinematic　model　of　the　rover　is　used　to　get　the　torque　distribution　algorithm　and　applied　to　calculate　the　corresponding　torque　for　each　wheel　based　on　the　desired　linear　speed　and　heading　angle　of　the　rover.　Buffer　unit　is　designed　to　address　the　issue　of　variable　time-delay　caused　by　the　Internet.　Lab-based　experiments　have　been　carried　out　using　the　BH2　rover.　The　test　results　demonstrate　good　performance　of　the　proposed　system.　©2009　IEEE.