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This paper proposes a novel approach to implement communication channels for Internet-based robotic systems. The exchange information between the operator and the robot is classified into categories with specific features and requirements. Appropriate transport protocols are utilized for each set of data. The TCP is for the administrative data; the UDP is for the control signals and the RTP is for the vision data. Simulations and experiments show that this approach strengthens advantages of each transport protocol while maintains good performance of the system.