Wireless bilateral control based haptic teleoperation is a potential and challenging technique that extends human beings' sensing to a remote environment. However, communication delay in a bilateral control system directly influences the performance and even produces instability. This paper presents a stable and high performance bilateral control with a switching algorithm. This proposal uses the reaction force from the slave robot as a beacon to determine whether the robot touches an environment object. Accordingly, the bilateral control algorithm is switched between a force-type three-channel control and a position-type three-channel control to improve the transparency. The stability is guaranteed by designing a passive system. In the proposal, a new idea of trade-off is proposed that guarantees the system stability and sacrifices the operational experience (transparency) only in the moment of contact. During the other operation time, the transparency in the states of free motion and contact is effectively improved. The proposed method is verified by experiments.