Biped robot with heterogeneous legs (BRHL) is a new pattern humanoid robot. This paper first introduces the conception, research purpose and configuration of HRHL. Then coordinated dynamics model and magneto-rheological (MR) damper model are given. 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 leg’s gait well.