Abstract: A remote control system for remotely controlling a biped locomotion robot as manipulated by an operator has an upper body support mechanism for supporting an upper body of the operator while allowing the operator to move feet thereof. Operation states of the feet of the operator whose upper body is supported by the upper body support mechanism are detected, and leg operation commands are applied to the biped locomotion robot depending on the detected operation states of the feet of the operator. The operation states of the feet of the operator include at least an operation state of each of the feet of the operator which corresponds to lifting of each leg of the biped locomotion robot from a floor, and an operation state of each of the feet of the operator which corresponds to landing of each leg of the biped locomotion robot on a floor.