It is well-known that bio-systems do not calculate inverse dynamics for trajectory planning, but they move by proper modulation of the system's impedances. Inspired by bio-systems, a biomimetic trajectory planning method is introduced. This scheme is based on employment of redundant actuation which prevails in bio-systems. We explain that in the generation of the biomimetic trajectory, intelligent structure of bio-systems plays an important role to completely modulate the dynamic behaviour of a system, such as natural frequencies and damping ratios. A five-bar mechanism equipped with two redundant actuators is employed to demonstrate the feasibility of the proposed biomimetic trajectory experimentally.