In this paper. a novel bio-inspired trajectory planning method is proposed for robotic systems based on an improved bacteria foraging optimization algorithm (IBFOA) and an improved intrinsic Tau jerk (named Tau-J*) guidance strategy. Besides. the adaptive factor and elite-preservation strategy are employed to facilitate the IBFOA. https://homehardware4ues.shop/product-category/caulking-tools-and-aids/