Combining the feature of bilateral hydraulic servo control systems, based on the analysis of force telepresence techniques presently used in a construction robot system, a position-force architecture was formed by using a new controller which used a force sensor and a hydraulic motor controlled by an electro hydraulic servo valve to constitute a hydraulic force controller. This replaced the traditional p-p architecture widely used in the construction robot system. The experimental results indicated that the new design improved the transparency of the teleoperation of construction telerobot system with force telepresence.