With the deepening research on the hexapod robot teleoperation system, the development of its control system will also face many challenges. Under the condition of dual-user control of the hexapod robot, in order to realize the real-time distribution of the control weight of each operator, a weight distribution method based on the transparency and control state(TCS) is designed in this paper. Its dual master and single slave adopt a position-speed interactive mode. A trilateral teleoperation control law is constructed by analyzing the real-time transparency and current control status of the system, and the sharing factor is calculated in real time. A speed tracking mode is adopted to design a control architecture based on haptic force feedback, and the three-port absolute stability theorem is used to determine the stable range of the control law parameters. Finally, a semi-physical simulation experiment platform is built, on which it is verified that the designed trilateral shared teleoperation method can consider both the system security and transparency, and the dual-user control of the hexapod robot is realized with high efficiency and safety at the same time, with fully considering the control intent of dual users.