To address the issue of poor tracking performance in locomotion tasks of hexapod robots under variable time delay conditions, this article proposes a bilateral teleoperation control method based on a wave impedance online compensation strategy. The strategy is built upon a four-channel control architecture and incorporates a delay estimator to predict communication delays. It further designs online adjustment rules for wave impedance to improve the system′s tracking performance. Additionally, the time-domain passivity control method is combined to provide a secondary compensation for potential activeness in the communication link and the environmental side, which could ensure the system′s absolute passivity. The control law parameters for the master and slave ends are designed by using the Llewellyn criterion. The proposed method is evaluated through the construction of a semi-physical simulation experimental platform and a physical experimental platform based on Vortex. Experimental results show that variable wave impedance control combined with time domain passivity control can ensure the passivity of the system. Compared with traditional bilateral teleoperation, the speed tracking performance is improved by 84. 3% , and the force fluctuation range is reduced by 84. 7% .