Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. First, the conception and research purpose of HRHL are introduced. Then, kinematics model, coordinated dynamics model and MR damper model are given. Based on gait tracking, gait planning method of BRHL is discussed and simulation is done. In the end, this paper discusses the control model of BRHL and gives combined control simulation. The result indicates that intelligent bionic leg controlled by MR damper can track artificial legpsilas gait well.