A master-slave system having a master robot and a slave robot and being subjected to bilateral control, the master robot being an admittance-type haptic device manipulated by an operator, the slave robot being at least electrically connected to the master robot and having portions at least other than the trunk operating mechanically independent of the master robot, the system comprising: at least one master actuator for generating a master driving force to position-control the master robot; at least one slave actuator for generating a slave driving force to control the slave robot in terms of driving force; at least one master displacement sensor for measuring a master displacement for the master robot; at least one slave displacement sensor for measuring a slave displacement for the slave robot; at least one operating force sensor for measuring a master operating force applied to the master robot by the operator; a master target displacement calculating device for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement; and a slave target driving force calculating device for obtaining a slave target driving force which is a target value for the slave driving force, on the basis of the master operating force, wherein, the slave actuator is adapted to generate the slave driving force on the basis of the slave target driving force, whereas the master actuator is adapted to generate the master driving force on the basis of the master target displacement and the master displacement, thereby: eliminating the need for a working force sensor adapted for the bilateral control and to measure a slave working force applied to the environment by the slave robot; and allowing the operator to feel the sense of slave dynamics without feeling the sense of master dynamics, the system characterized in that the mapping by the master target displacement calculating device is predefined such that a set of master target displacements excludes a singular configuration for the master robot, thereby allowing a singular configuration problem for both the master robot and the slave robot to be solved in the entire range of movement of the slave robot regardless of whether the slave robot and the master robot have the same structure or different structures. at least one master actuator for generating a master driving force to position-control the master robot; at least one slave actuator for generating a slave driving force to control the slave robot in terms of driving force; at least one master displacement sensor for measuring a master displacement for the master robot; at least one slave displacement sensor for measuring a slave displacement for the slave robot; at least one operating force sensor for measuring a master operating force applied to the master robot by the operator; a master target displacement calculating device for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement; and a slave target driving force calculating device for obtaining a slave target driving force which is a target value for the slave driving force, on the basis of the master operating force, wherein, the slave actuator is adapted to generate the slave driving force on the basis of the slave target driving force, whereas the master actuator is adapted to generate the master driving force on the basis of the master target displacement and the master displacement, thereby: eliminating the need for a working force sensor adapted for the bilateral control and to measure a slave working force applied to the environment by the slave robot; and allowing the operator to feel the sense of slave dynamics without feeling the sense of master dynamics, the system characterized in that the mapping by the master target displacement calculating device is predefined such that a set of master target displacements excludes a singular configuration for the master robot, thereby allowing a singular configuration problem for both the master robot and the slave robot to be solved in the entire range of movement of the slave robot regardless of whether the slave robot and the master robot have the same structure or different structures. eliminating the need for a working force sensor adapted for the bilateral control and to measure a slave working force applied to the environment by the slave robot; and allowing the operator to feel the sense of slave dynamics without feeling the sense of master dynamics, the system characterized in that the mapping by the master target displacement calculating device is predefined such that a set of master target displacements excludes a singular configuration for the master robot, thereby allowing a singular configuration problem for both the master robot and the slave robot to be solved in the entire range of movement of the slave robot regardless of whether the slave robot and the master robot have the same structure or different structures.