Abstract: Compared to homogeneous robotic teleoperation system, the human operator is often unable to judge the location and contact force of the target precisely in heterogeneous robotic teleoperation system. Consequently, when the slave robot contacts the external environment, the telepresence is insufficient for the operator. For this problem, this paper proposes a control method of location-contact control for heterogeneous teleoperation system. The proposed method combines the task-space conversion of the robots and the architecture of direct force feedback. First, the joint-space of the robots is converted to the task-space, and the task-space of the heterogeneous master and slave robots is mapped and matched. Then, a force sensor is incorporated to the architecture of direct force feedback and the camera plays a subsidiary role. Therefore, the operator can accurately operate the remote slave robot to contact the target and obtain the position of the target, and further determine the property of the target that the slave contacts in the external environment. By employing force feedback, this proposed method locates the target and determines its properties, and it is simple and easy to operate compared to the complicated robot vision calibration method. The effectiveness of the proposed method is verified by experiments on a developed heterogeneous teleoperation system.