As Massimo points out, your best bet is to install and use secure shell. You can get this precompiled for HP at
http://software.hp.com. Its also available for other Unix platforms, and even M$ platforms for free or very cheap. It won't be hard to find: Google is your friend.
Since it appears that all you want to do is script; install secure shell on both (or all systems, then configure it according to the document I've attached. This will allow you to securely access remote systems, run commands and display/capture data back to the intiating system.
The only caveat is that the initial connection between systems is slow (in HPux versions prior to 11i). After the initial connection/handshake is made, it is just as fast as remsh, rlogin, rcp, or any of the others.
Just be careful to check permissions and ownerships, as outlined in the document. It'll work GREAT!
Chris