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As a general advanced plateform of performance test and quantitative estimation for prosthetic leg, biped robot with heterogeneous legs (BRHL) simulates the amputee-prosthesis coupling system. To generate the walking gait trajectories of artificial leg, linear inverted pendulum model combining with ZMP stability criterion was employed and the reference angle of joints was calculated by establishing and solving robot inverse kinematics. To eliminate the effect of servo mechanism hysteresis, preview control was used to optimize the CoG trajectories. Experiment results indicate the effectiveness of the proposed scheme.