Offset Approximate The Cubic Bezier

Question

Given a cubic Bezier curve $B_3(t)$, and the offset radius $d$, we know the exact $d$-offset curve is $$X_d(t):=B_3(t)+d\cdot N(t),$$ where $N(t)$ denotes the normal direction to the $B_3(t)$.

Q: Are there some good method to approximate the $X_d$ by the Cubic Bezier curve?

PS: I just knew the Hoschek-method Slide of the Hoschek Method.

Answer 1

See the answers here.

The notes by Hagen that you linked to are rather narrow in their focus, in my opinion. There are many different approaches to the offsetting problem, and he covers only a few of them.