utilizzando questa classe:
http://sadun-util.sourceforge.net/

riesco a fare il login ed il logout solo che non riesco a far nessuno comando...
codice:
import java.io.IOException;
import java.io.OutputStreamWriter;
import java.io.PrintWriter;
import java.net.Socket;
import java.net.UnknownHostException;

import org.sadun.util.*;
import org.sadun.util.UnixLoginHandler.LoginIncorrectException;


public class Telnet {

	/**
	 * @param args
	 */
	public static void main(String[] args) {
		// TODO Auto-generated method stub
		Socket s = null;
		try {
			s = new Socket("10.77.151.10",23);
		} catch (UnknownHostException e1) {
			// TODO Auto-generated catch block
			e1.printStackTrace();
		} catch (IOException e1) {
			// TODO Auto-generated catch block
			e1.printStackTrace();
		}
		UnixLoginHandler handler = null;
		try {
			handler = new UnixLoginHandler(s);
		} catch (IOException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
		} 
		handler.setSendInitialCRLF(false);
		try {
			TelnetInputStreamConsumer is = handler.doLogin("prova","prova");
		}
		catch (LoginIncorrectException e) 
		{
			// TODO Auto-generated catch block
			e.printStackTrace();
			System.out.print(e.toString());
			System.exit(1);
		}
		catch (IOException e) 
		{
			// TODO Auto-generated catch block
			e.printStackTrace();
			System.exit(1);
		} catch (OperationTimedoutException e) 
		{
			// TODO Auto-generated catch block
			e.printStackTrace();
			System.exit(1);
		} 
		String command="ls -al > prova.txt"; // Comando
	     PrintWriter pw = null;
		try {
			pw = new PrintWriter(new OutputStreamWriter(s.getOutputStream()), true);
		} catch (IOException e) {
			// TODO Auto-generated catch block
			e.printStackTrace();
			System.out.println(e.toString());
		}		
		pw.flush();
	     pw.write(command+"\r\n");
	     
	     handler.doLogout();
	}
}