A generalized compliant motion with sensor fusion primitive uses a set of input parameters provided from a local control site to a remote execution site to control a telerobot with a combination of a priori trajectory motion and real and virtual local and remote sensor inputs. The set of input parameters specify the desired telerobot behavior based on a combination of local and remote information. This general motion primitive requires less computer memory size, and provides more capabilities, than the task specific primitives it replaces because redundancies are eliminated while permutations of capabilities are available. Trajectory motion occurs during a nominal motion time segment while termination conditions are monitored during an ending time segment to stop motion when a termination condition occurs. Force and compliant motion, teleoperation, dither, virtual springs restoration and joint limit control are combined with the trajectory motion at the remote site.