Abstract: To provide an ideal testing platform to develop intelligent bionic legs, a new mode of humanoid biped robot with heterogeneous legs (BRHL) is proposed. Describes the concept of BRHL and what it can offer for such development. Based on the idea of segmentation modeling, a coordinated kinetic model is given to BRHL. A modified Sigmoid model of magneto-rheological damper (MR damper) is proposed with modeling test done. Then, based on gait tracking, the gait planning of BRHL is described in detail for simulation. With the BRHL control system designed, the softwares Pro/E, ADAMS and MATLAB/Simulink are used to simulate the combined control with virtual prototype robot. The result indicates that intelligent bionic leg controlled by MR damper can track the artificial leg's gait well.