diff --git a/Bipedal/bipedal_planner/bipedal_planner.py b/Bipedal/bipedal_planner/bipedal_planner.py
new file mode 100644
index 00000000..350c912c
--- /dev/null
+++ b/Bipedal/bipedal_planner/bipedal_planner.py
@@ -0,0 +1,34 @@
+import numpy
+
+class FootstepPlanner(object):
+    def __init__(self):
+        pass
+
+    def plan(self, goal):
+        pass
+    
+class BipedalPlanner(object):
+    def __init__(self):
+        self.footstep_planner = FootstepPlanner()
+
+        '''
+        self.footstep = [[0.0, 0.2],
+                  [0.3, 0.2],
+                  [0.3, 0.2],
+                  [0.3, 0.2],
+                  [0.3, 0.2],
+                  [0.0, 0.2]]
+        '''
+
+    def set_footstep(self, footstep):
+        self.footstep = footstep
+
+    def send_goal(self, goal):
+        footstep = self.footstep_planner.plan(goal)
+        if footstep != None:
+            self.footstep = footstep
+
+if __name__ == "__main__":
+    bipedal_planner = BipedalPlanner()
+    goal = None
+    bipedal_planner.send_goal(goal)