The Biped Robots have been an interesting research topic for many years, and recent developments in actuators, sensors and computers have enabled the realization of more and more sophisticated anthropomorphic Biped Robots. The biped robot with heterogeneous leg (BRHL) is a novel robot model, which consists of an artificial leg and a bionic leg. The stable control architecture for BRHL in space requires to appropriate coordinate transformations before motor commands can be computed. This paper provides sthe detail description of the control algorithms that consist of Proportional-Integral-Derivative (PID), Fuzzy Logic and Hybrid controllers.