Abstract: The master-slaver dual-leg coordination control was used for biped robot with heterogeneous legs (BRHL) to simplify its planning scheme, of which the key of coordination is gait tracking control. Bionic knee joint enables the robot to walk more like human, but its modeling is complex and the control of bionic leg to track artificial leg is difficult. The P-type open/closed-loop iterative learning control (ILC) is therefore put forward to combine together the advantages of open-loop and closed-loop ILC without a model to rely on so as to fit the control of path tracking of complicated robot. The convergence of the algorithm proposed is proved and a simulation based on virtual prototype was done, of which the results showed that the algorithm is efficient and robust especially its converging speed is higher than individual open-loop or closed-loop ILC.