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.

• 主从式双腿协调控制用于异构双腿行走机器人可减少规划量；控制的关键是步态轨迹跟踪.；仿生膝关节使机器人步态更加仿人;