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Some performance test trials are necessary in the study and development of intelligent prostheses. A heterogeneous biped walking robot model is offered as an excellent experimental platform for the performance testing of intelligent prosthesis. The major role of an artificial leg in a heterogeneous biped walking robot is to imitate a healthy normal stride for the disabled, allowing intelligent bionic legs to follow the goal trajectory. The pneumatic artificial muscles (PAM) are well-suited for use in prosthetic legs. The bionic design of an artificial limb primarily consists of the construction of the hip, knee, and ankle joints, with the four-bar mechanism serving as the mechanical structure of the knee joint and PAM serving as the knee joint's driving source. Second, the PAM performance test platform is constructed in order to establish the link between output force, shrinkage rate, and input pressure under observed isobaric circumstances, as well as the mathematical model of PAM. Finally, a collaborative simulation platform is built using virtual prototype technology, with the PID control algorithm employed for verification simulation. The results reveal that the mechanical limb is capable of following the desired path.