Rethinking Traditional Indonesian Roof Bamboo Frame Structures by Utilizing Parametric Tools and Automated Fabrication Techniques: A Systematic Review

Abstract

In traditional Indonesian architecture, bamboo and timber-frame structures are essential elements, with roofs being a prominent feature. This is due to the tropical climate conditions that demand such a design. However, the traditional Indonesian hyperbolic-paraboloid roof is at risk of extinction due to modern construction demands, and traditional craftsmanship is gradually being lost. To address this issue, our research investigates which existing parametric design tools and fabrication techniques are suitable for a digital workflow and assembly production of Indonesian traditional roof structures. Through a systematic review and analysis of 19 selected articles, we have categorized the various workflows, tools, and techniques and their suitability to propose and be integrated into a novel Indonesian bamboo-based roof structure fabrication workflow, making it accessible to contemporary architecture.

Full text

RETHINKING TRADITIONAL INDONESIAN ROOF BAMBOO
FRAME STRUCTURES BY UTILIZING PARAMETRIC TOOLS AND
AUTOMATED FABRICATION TECHNIQUES: A SYSTEMATIC
REVIEW
AHMAD MANSURI
Liverpool School of Architecture, University of Liverpool
Ahmad.mansuri@liverpool.ac.uk
Ahmad.mansuri@usu.ac.id
ASTERIOS AGKATHIDIS
Liverpool School of Architecture, University of Liverpool
a3lab@liverpool.ac.uk
DAVIDE LOMBARDI
Department of Architecture, Xi'an Jiaotong-Liverpool University
davide.lombardi@xjtlu.edu.cn
HANMEI CHEN
Liverpool School of Architecture, University of Liverpool
hanmei.chen@liverpool.ac.uk
Abstract. In traditional Indonesian architecture, bamboo and timber-frame
structures are essential elements, with roofs being a prominent feature. This
is due to the tropical climate conditions that demand such a design.
However, the traditional Indonesian hyperbolic-paraboloid roof is at risk of
extinction due to modern construction demands, and traditional
craftsmanship is gradually being lost. To address this issue, our research
investigates which existing parametric design tools and fabrication
techniques are suitable for a digital workflow and assembly production of
Indonesian traditional roof structures. Through a systematic review and
analysis of 19 selected articles, we have categorized the various workflows,
tools, and techniques and their suitability to propose and be integrated into
a novel Indonesian bamboo-based roof structure fabrication workflow,
making it accessible to contemporary architecture.
Keywords: parametric bamboo, bamboo fabrication, bamboo frame, bamboo roof,
bamboo structures.

1. A brief description of a typical traditional Indonesian house
Indonesian architecture is known for the diversity of its traditional housing
typologies and construction methods. Inherited from the noble ancestral
culture, the traditional houses were constructed using non-rigid timber and
bamboo frameworks with a notable emphasis on the distinctive roof geometry
(figure 1). The diverse forms of the roofs share a common thread in the
expression of roofing steepness, which embodies local wisdom's response to
solar radiation and the tropical climate (Prasetyo et al., 2017). They are spread
over several islands (figure 1) and follow a particular rule in their local
tradition or are driven by culture (Toe and Kubota, 2015). Traditional
Indonesian houses have vital elements in ornamentation, symbiosis with
external space, transitional, inner space, breathing walls, non-rigid structure,
and roof domination (Prasetyo et al., 2017). It has been described
terminologically as "roof-based architecture" because the name of the
traditional house is given based on the shape of the roof (Hardiman, 2005).
The roof is linked to the head of a building, showing its dominant proportion
compared to the element of the body or building base (stilt houses); using
pilotis (ground-level supporting columns or stilts) gives the impression of
lightness, especially to the heavy roofs.
The roof is a critical element in recognizing and processing building figures,
and each tribe represents a different form and shape of houses, especially
conspicuously in the roof shape (Nurdiah, 2001). A very sharp upper slope
causes the roof to buckle, thereby reducing the absorption of solar energy
(Supriatna and Handayani, 2021). Despite the variety of roof shapes in
traditional Indonesian houses, the common thread in climate consideration is
essential in creating its geometry (Rajendra, 2021) to express the roof's
steepness (Prasetyo et al., 2017). Gadang Houses in west Sumatera have a
roof that is tapered on both left and right sides, curved inwards on both sides,
low in the middle, and elongated in the shape of a buffalo horn (Supriatna and
Handayani, 2021). Generally, a traditional house's roof structure is made of
bamboo or timber rods and sheets connected through rattan rope and a pin-a-
hole join system. It uses bamboo as frame roofing structure material and palm
tree fiber or ijuk (palm fiber) as covering material affecting thermal conditions
inside the house for tropical climate friendly.
However, to limit the scope of this research, three traditional houses
representing the west and east of Indonesia are chosen as case studies due to
their similarity in the basic roof geometry. The houses are the Gadang House
Minangkabau tribe in West Sumatera, the Tongkonan House Toraja Tribe in
South Sulawesi, and the Bolon House Batak tribe in North Sumatera. The
Bolon (A), Gadang (B), and Tongkonan (C) Houses have similar roof shapes
protruding at the end like buffalo horn (Nurdiah, 2001).

Figure 1. Typological grouping of traditional Indonesian roof shapes spread in the Indonesian
Archipelago (Source: authors)
Batak, Gadang, and Tongkonan houses have similar roof shape typologies,
and these three tribes are well-known for their protruding shapes, with high-
raised roof arches and curving at the top end of the roof. Regardless of their
similarity in basic shapes, each has its differences in symmetry and asymmetry
of their curve ridge (figure 2). The basic roof geometry has been adopted and
translated into many contemporary architectures as new vernacularism,
especially in public facilities and local government services office buildings,
as the cultural symbolism and architectural representation.

Figure 2. Selected object case study of traditional Indonesian houses (Sources: authors)
2. Materials and Methods
This systematic review focuses on integrating traditional bamboo frame
construction techniques with parametric design and robotic fabrication
technologies to make them applicable in contemporary architecture.
Consequently, this research answers the following questions:
1. What are the most suitable parametric design, optimization, and fabrication
tools that can be utilized in the design process of Indonesian bamboo
hyperbolic paraboloid structures?
2. What design and fabrication workflow would be the most suitable to
potentially revolutionize Indonesian bamboo-based traditional architecture
and make it accessible to contemporary architecture?
A Bolon House, Batak North Sumatera
B Gadang House, Minangkabau tribe West Sumatera
C Tongkonan House, Toraja South Sulawesi

We conduct a systematic review to answer our research questions, following a
method that consists of three phases, as seen in Figure 3. This includes 1) data
collection and filtration by searching specific keywords in the Scopus and
CuminCAD databases, selecting journal and conference articles, and 2)
analyzing and reviewing selected research of bamboo-related digital
architecture and automated fabrication techniques. The selection process
filters the most suitable design and fabrication methods by looking into
structure type, tools, and techniques. Finally, in stage 3) we categorize the
articles according to: a) material and structural system b) the workflow of
digital/parametric design and optimization c) digital automated fabrication or
assembly methods.
We utilized the databases CuminCAD, which contains papers of conferences;
ACADIA, CAADRIA, eCAADe, SIGraDi, ASCAAD, CAAD, and ISARC
international academic conferences are summarised and Scopus, which
contains journal papers from architecture, engineering, and structural science-
related fields, such as Automation in Construction, Construction Robotics,
Visualisation in Engineering, and Journal of Building Engineering. The search
was conducted using the keywords "bamboo architecture", "parametric
bamboo", "bamboo fabrication," bamboo form-finding", and "bamboo
structure".
The articles were filtered in phase two by removing the review publications
and low-relevance articles. The first filtering took place using the database's
filtering tools, whereby 256 articles were found. The 256 remaining articles
were reviewed by reading their abstracts. The articles not dealing with the
robotic fabrication of bamboo structures, materials, and joints were also
removed. An additional 238 articles were removed, resulting in the remaining
19 articles we present. In phase three, the remaining 19 articles were
systematically categorized and analysed into three categories: 1) Material and
structural system, 2) The workflow of digital/parametric design and
optimization 3) Digital automated fabrication/assembly methods.
The final 19 selected articles include one book, five journal articles, and 13
conference papers. Eleven articles examined parametric tools in the design
stages, four articles only presented the application of parametric modelling
and simulation in bamboo material without fabrication, eight articles applied
hand bending, manual assembly, and fabrications in the construction process,
three articles explored Mixed Reality (AR and VR) during the fabrication
process, one article showcased the hybrid augmentation between robot and
human collaboration by using mobile robotic arms and AR-based mobile
devices, one article demonstrates the use of robotic tools in fabricating flexible
and bendable structures, and one article uses mobile robots in constructing
bamboo rods structure. These categorized articles are analysed and compared
in the final phase to answer our research questions.

Figure 3
. The structure of the systematic review methodology

4. Analysis of the Filtered Papers
4.1 PARAMETRIC DESIGN AND OPTIMIZATION TOOLS
Crolla (2017) showcased the use of parametric design tools for producing
complex bamboo geometries in the ZCB Bamboo pavilion, a long-span,
bending active bamboo grid shell in CUHK Hong Kong. He used the
Kangaroo plug-in for Grasshopper in the form-finding process to simulate
physical forces. The digital model geometry is used to extract conventional
architecture plans and section and elevation drawings to provide digital data
and communicate the bamboo structure application in construction (figure 4).
Figure 4. Parametric tools application in ZCB Bamboo Pavilion (Crolla, 2017)
In this research, the parametric model automatically produces the graphic
representation of drawings, coordinates, and the dimensions of each element.
These data are useful building information used for the construction process,
reducing its complexity.
Naylor et al. (2022) applied parametric tools in Rhinoceros and Grasshoppers
to design a full-culm hyperbolic paraboloid bamboo structure. The form-
finding process involves changing the parameters, such as pole length and
diameter, adding poles to the grid, and modifying the upper point. Changing
the parameters allows the hyperbolic paraboloid bamboo geometry to
transform. This allows the overflow of the rainwater to fall towards the two
lower points without requiring the additional expense of guttering (figure 5).
Figure 5. Hyperbolic paraboloid bamboo roof for rain collection strategy using
parametric tools (Naylor, J.O., 2022)

Wallisser et al. (2018) designed a tropical bamboo grid shell pavilion as a
parabolic hyperboloid grid shell at Rio de Janeiro Federal University utilizing
Grasshopper and load simulations with the Karamba Plug-in. They stimulated
hands-on empirical testing to predict bamboo structural behaviour and explore
the geometry through tension and compression. To generate the bamboo cell
division in a freeform structure, a grid shell structure is created instead of
polygonal meshes or planar surface, and the surface is divided into a structural
tessellation grid shell (figure 6), allowing flexible joints to enable the
assembly process.
Figure 6. Tropical bamboo grid shell form-finding (Wallisser et al., 2018)
Huang (2022) integrated parametric tools to reinvent the bamboo structure of
a traditional Chinese umbrella inspired by cultural values and conventional
Chinese craftsmanship. He utilized the Karamba3D and Kangaroo
optimization plug-ins for Rhinoceros/Grasshopper. The traditional Chinese
bamboo umbrella is transformed into a dynamic and open space geometry
(figure 7) but is still rooted in traditional craftsmanship, linking the idea of
basic umbrella geometry with novel design tools and new fabrication
technology. He argued that to connect traditional material principles with
global practice, the new approach of computational tools can enhance the
value of local material performances by proposing a new design framework.
Figure 7. Parametric tools application in designing the bamboo structure of a
traditional Chinese umbrella (Huang, 2022)
Wang et al. (2017) investigated the design of a freeform bamboo structure and
how parametric tools can systematically be used to deal with the irregularities
and joint challenges in bamboo material. A two-stage optimization was
applied to support the fabrication of the freeform structure through encoding
material properties and freeform shape optimization. This research facilitated
direct feedback to the architect on how the cost efficiency of bamboo
construction can be achieved by reducing the material used and optimizing the
elements of the final structure assembly. The optimization took place using

different types of tessellations from the quadrilateral, triangle, and diamond-
like patterns. These tools inform how these discrete geometrical elements can
be further evaluated and rationalized for fabrication to achieve efficiency and
minimum use of material (figure 8). This research displayed that parametric
tools can be applied to encode bamboo structures' physical and geometrical
attributes. It demonstrated the integration of design optimization, which can
simultaneously facilitate the form-finding process systematically and
iteratively.
Figure 8. Parametric tools in generating joint systems and surface tessellation in
freeform bamboo structures (Wang et al., 2017)
Estrada Meza et al. (2022) used parametric tools in the design exploration of a
bamboo shell structure. Specifically, they used the NSR-10 Colombian code
for seismic design and construction, analyzed and solved the mechanical
behaviour design of double-curved shells, and then compared the result
calculation with the values deriving from the Karamba3D, Rhinoceros/
Grasshopper plug-in. Figure 9 illustrates the structural behaviour of two
double curvature geometries simulated with parametric software, which has
the potential to be applied in the early structural bamboo design process.
Figure 9. Parametric tools for design exploration of bamboo shell structures (Estrada
Meza et al., 2022)

4.2 AUTOMATED FABRICATION TOOLS AND TECHNOLOGIES
Robotic construction has allowed faster and more precise production with the
advantages of customization, accuracy, and reliability in various work
environments and scales (Adel et al., 2018). Along with it, the progression in
bamboo integration with digital fabrication has introduced a variety of
approaches and methodologies using multiple tools and techniques in several
projects, ranging from bamboo pavilion structures using 3D printing joints
(Tanadini et al., 2022) to parametric augmented injection in ZCB Bamboo
Pavilion (Crolla, 2017) Mixed Reality Collaboration in Bamboo structure
(Goepel and Crolla, 2020) 3D Scanning and Augmented reality Bamboo
Fabrication (Crolla, 2017), (Wu et al., 2019) and expanding the collaboration
process between human-robot cooperation in digital design framework of
bamboo culms (Lorenzo et al., 2017).
Nevertheless, bamboo, characterized by its non-standardized nature and
distinctive traits of flexibility and versatility, encounters obstacles and
challenges when it comes to achieving complete automation in fabrication.
The bamboo structures still depend on manual and human labour assembly
(figure 10) to address and navigate unpredictable disruptions from a human-
free workforce exclusivity in automated robotic construction. Specific bamboo
fabrication is still a prominent feature that employs manual techniques and
hand bending to construct bamboo structures and installations, both on-site
and offsite construction scenarios.
Figure 10. The progression of research in bamboo fabrication: 1) Bamboo pavilion in ETH
Zurich (Tanadini et al., 2022), 2) the ZCB Bamboo Pavilion in CUHK Hongkong (Crolla,
2017), 3) Bamboo Lightweight Active bending structure in ITKE Stuttgart (Suzuki, Slabbinck
and Knippers, 2020)0, 4) Bamboo3 project in SUTD Singapore (Amtsberg and Raspall, 2018),
5) the Bamboo Bend Project in NCTU China (Chen and Hou, 2016), and 6) Trefoil Pavilion, a
parabolic hyperboloid grid shell (Wallisser, Henriques and Menna, 2019).
Crolla (2017), in the ZCB Bamboo Pavilion in CUHK Hongkong, three layers
of bamboo culms were bent and hand-tied into a bending-active triangulated
diagrid on-site (figure 11). The pavilion's structure is formulated and validated
through digital and physical models, encompassing bamboo prototypes at
different scales. In this project, Metal wires were manually used to tie the
bamboo culms together, as they offer fire resistance in contrast to
conventional knots.
1
2
3
4
5
6

Figure 11. The construction process of ZCB Bamboo Pavilion CUHK (Crolla, 2017)
Achieving full automation in bamboo construction is challenging. Bamboo, as
a natural and organic material, exhibits variations in dimension, shapes, and
mechanical properties, which make it challenging to automate the fabrication
process entirely. On the other hand, bamboo structures also rely on well-
designed connections and joints for stability. Hence, in unstructured and non-
static environments, especially in construction sites, the robustness and
autonomy of such robotic processes are still remarkably low (Edsinger and
Kemp, 2007), specifically if applied in fully automated bamboo fabrication.
Therefore, during bamboo fabrication, robotic and digital tools still rely on
human power assistance in operating, getting involved in fabrication stages,
and making critical decisions during the robotic fabrication process (Moniz
and Krings, 2016). The assembly and handling of bamboo elements still
require skilled human intervention because on-site adjustments and
adaptations make it challenging to achieve full automation.
On the other hand, the lack of autonomy limitation in robotic vision will
leverage complementary skills and tools that can be integrated with traditional
bamboo construction, such as human collaborations and mixed reality, in
enhancing the digital construction and fabrication process. The digital
environment can provide more intuitive interfaces for robotic fabrication,
providing seamless communication and data exchange in collaborative
human-robot construction (Aryania et al., 2012), and it can potentially be
applied in bamboo fabrication. The constraint limitation in bamboo fabrication
will be inclined to expand and openly leverage cooperation in a semi-
autonomous manufacturing system between humans, digital tools
environment, and robots working together.
A similar scenario was demonstrated in a study by Mitterberger et al. (2022).
He explored human-robot collaboration scenarios in assembling wooden
structures using rope joints. This experiment employed digital tools and

workflows to facilitate augmented human-robot collaboration between two
humans and two 6-DoF mobile robotic arms (UR10e) with custom 3D-printed
pneumatic grippers. Human operators manually placed the wooden structure
and established rope connections with dexterity, while robots assisted in the
assembly cycle by accurately placing elements and stabilizing overall
structures. This experiment (figure 12) highlights how hybrid human-robot
teamwork can enable new pathways toward bamboo automated fabrication.
Figure 12. Hybrid human-robot collaboration in assembling wooden structures (Mitterberger et
al., 2022)
Brugnaro, Vasey, and Menges (2008) demonstrated a research project titled
Robotic Softness, incorporating robotic tools in a bendable and flexible
material to assemble woven structures that can be adapted and extended to
bamboo structures. The research was inspired by behavioural fabrication logic
used by the weaverbird during the self-making of its nest. A 6-axis industrial
robot (KUKA KR 125/2) fabricated three-dimensional woven structures with
rattan material (figure 13), and it was operated with an online agent-based
system, a custom weaving end-effector, and 3D scanning for coordinated
sensing strategy.

Figure 13. Robot technology applications on bendable material fabrication (Brugnaro, Vasey,
and Menges, 2008)
This technique is particularly tailored for the weaving process. It showed that
natural materials with organic geometry can be fabricated with robotic
technology (figure 14). However, this strategy needs deeper exploration to
determine whether this framework adapts to bamboo fabrication scenarios.
This research indicated that integrating computational design and innovative
fabrication techniques with natural material and organic construction
processes can be implemented.
Figure 14. Employing Robot technology for the assembly of bendable materials (Brugnaro,
Vasey, and Menges, 2008)
Another robotic system utilized in bamboo rod construction was presented by
Lochnicki et al. (2021) in an active-bending light touch assembly for a
bamboo bundle structure project. They used mobile robots that behaved
toward bamboo dynamic characteristics and assembled the frames by teaching
the robots with a particular control policy to bend bamboo bundles (figure 15)
using deep reinforcement learning (DRL) algorithms. They constructed
bamboo bundles with metal zip-tie joints and steel anchor base foundations.
This research showcased the potential to unlock robotic building practices
with bamboo as a rapidly renewable material and promote sustainable
construction.

Figure 15. Mobile robot prototypes used in feasibility studies assemble lightweight bamboo
bundle structures (Lochnicki et al., 2021)
During the physical assembly, the mobile robot could use its weight and
momentum to bend the bamboo rod bundle element into the determined
position. The robot could adjust its swinging even when external factors
influenced the bending response from the material. The ability of robots to
connect bundles was achieved by hard-coding the mobile robots to grasp and
connect them to the other existing bundles in the structures (figure 16).
Figure 16. The assembly process of bamboo rod bundle structures with mobile robots: 1) join
types of the construction system. 2) The speculative outlook of the whole structure of active
bending bamboo structures ((Lochnicki et al., 2021)
1
2

In addition, mixed reality tools (AR and VR) technologies can also assist in
visualizing and experiencing bamboo structures before, during, and after their
physical construction. These technologies provide an immersive environment
to explore geometry during the design stages, assess spatial qualities, and
make informed decisions during the design and fabrication stages. Several
bamboo projects have applied to incorporate AR for fabrication stages (figure
17). Mixed reality tools in Bamboo fabrication can stimulate dialogue and
collaborate in creative production and augmented craftsmanship, providing a
greater mechanism and diverse design output (Goepel and Crolla, 2020).
Figure 17. Mixed reality applications in the fabrication of bamboo structures: 1) Bamboo
Pavilion Diecui Gallery in China (Kenan Sun, Tian Tian Lo, Xiangmin Guo, 2022), 2) Rawbot
Bamboo project, a Mobile AR Assembly in UCL: United Kingdom (Wu et al., 2019), 3) Argan
Bamboo installation project in CUHK Hongkong (Goepel and Crolla, 2020)
Lorenzo et al. (2017) used a 3D scanner attached to a robotic arm to get
bamboo culms' physical and geometric properties as digital data for bamboo
pavilion construction (figure 18). They utilised sensor technology to monitor
bamboo materials' performance and structural behaviour as a supporting tool
for bamboo fabrication. This tool provided real-time data on factors such as
stress and movement to ensure structural integrity and longevity of bamboo
construction. Various sensors can be employed to monitor and analyze the
performance behaviour of bamboo structures, such as strain sensors for
measuring deformation strain in bamboo elements, accelerometers for
measuring acceleration or vibration, and load cell sensors to measure loads on
bamboo components or connections.
Figure 18. Robotic tools and 3D sensing applications in bamboo fabrication (Lorenzo et al., 2017)
1
2
3

In summary, we present a table (Table 17) categorizing all 19 research
projects according to their publication type, materiality, structural system,
digital design, optimization tools, and fabrication methods. By analyzing and
evaluating them, we propose a novel bamboo fabrication workflow to bridge
the gap between traditional architecture and utilizing the latest technology.
NO
BAMBOO &
DIGITAL
FABRICATION
RESEARCH
TYPE OF
PUBLICATION
MATERIAL
STRUCTURAL
SYSTEM
DIGITAL DESIGN &
OPTIMISATION
TOOLS
FABRICATION
METHODS
REFERENCES
1
Exploring the
potential of
equilibrium-
based methods in
additive
manufacturing:
the Digital
Bamboo Pavilion
JOURNAL
Bamboo
small poles
as an ultra-
lightweight
structure
with
3D Printing
Join
Spatial truss
with post-
tensioned cable
Not mentioned
Manual assembly
with 3D printing
Joint
(Tanadini et al.,
2022)
2
Computational
Bamboo: Digital
and Vernacular
Design Principles
for the
Construction of a
Temporary
Bending-Active
Structure
CONFERENCE
Bamboo
laths and jute
cords
Lightweight
Active bending
structure
Rhinoceros &
Grasshopper.
ElacticSpace for
numerical form-finding
On-site
assembly, Hand
bending
(Suzuki,
Slabbinck and
Knippers, 2020)
3
Building
indeterminacy
modelling – the
'ZCB Bamboo
Pavilion' as a
case study on
nonstandard
construction
from natural
materials
JOURNAL
Bamboo
triangulated
diagrid shell,
lightweight
translucent
glass-fibre
reinforced
polymer
membrane.
Bending active
grid shell
structure,
Rhinoceros &
Grasshopper Plugin,
Kangaroo for phisical
force simulation engine
Various scales of
3D scan
prototyping
before building a
full-scale model
(Crolla, 2017)
4
Bamboo 3
CONFERENCE
Bamboo
poles and 3D
printing joint
and
connectors
Truss structures
Not mentioned
Visual sensing
for material
properties and
applied in a
digital model
Manual assembly
(Amtsberg and
Raspall, 2018)
5
Design with a
bamboo bend,
bridging natural
material and
computational
design
CONFERENCE
Bamboo
strips
Bending and
curvature
construction
Parametric tools
Rhinoceros &
Grasshopper Plug-in
Manual bending
and assembly
(Chen and Hou,
2016)
6
Digital
construction of
bamboo
architecture
based on multi-
technology
cooperation
CONFERENCE
Bamboo Pole
Force bearing
stricture
Not mentioned
AR, 3d scanning,
robot-aided
construction, 3d
printing and
design rules
(Kenan Sun,
Tian Tian Lo,
Xiangmin Guo,
2022)
7
Rawbot, A
digital system for
AR fabrication of
bamboo
structures
through the
discrete
digitization of
bamboo
CONFERENCE
Bamboo pole
with custom
joint
Pole Bamboo
Structure
Not mentioned
AR Assembly
(Wu et al.,
2019)
8
Tie a
knot:human–
robot cooperative
workflow for
assembling
wooden
structures using
rope joints.
JOURNAL
Wood stick
and rope
joint
Wood frame
structure
Not mentioned
Hybrid
Augmented
Human-Robot,
two mobile 6-
DoF mobile
robotic arms
(UR10e) with
custom 3D-
printed
(Mitterberger et
al., 2022)

NO
BAMBOO &
DIGITAL
FABRICATION
RESEARCH
TYPE OF
PUBLICATION
MATERIAL
STRUCTURAL
SYSTEM
DIGITAL DESIGN &
OPTIMISATION
TOOLS
FABRICATION
METHODS
REFERENCES
pneumatic
grippers and two
humans
9
BIM Bamboo: a
digital design
framework for
bamboo culms
CONFERENCES
Bamboo pole
Bamboo pole
gridshell
BIM Modelling,
Numerical simulations
3D scanning
Attached to a
robotic arm,
performance
monitoring
robotic
prototyping
(Lorenzo et al.,
2017)
10
Protection by
Generative
Design,
designing for
full-culm
bamboo
durability using
sunlight-hours
modelling in
Ladybug
CONFERENCE
Full culm
bamboo
Only simulation
for solar roof
protection
Rhinoceros 3D &
Grasshopper, Ladybug
plug-in
No Fabrication
Only simulation
(Naylor, 2021)
11
Augmented
Reality-Based
Collaboration
Argan, A
Bamboo Art
Installation Case
Study
CONFERENCE
Bamboo
splits
Free form Art
bamboo
Installation
Rhinoceros 3D &
Grasshopper
Holographic with
Microsoft
Hololens, AR
tools-based
assisted manual
assembly,
Smartphone.
(Goepel and
Crolla, 2020)
12
Applying Design
Tools for Full-
Culm Bamboo
CONFERENCE
Bamboo pole
Hyperbolic
paraboloid,
bamboo grid
shell structure
Rhinoceros 3D &
Grasshopper, NURBS
geometry, Kangaroo Plug
in
Manual assembly
Full-scale
prototyping
(Naylor, Stamm
and Vahanvati,
2022)
13
Encoding
bamboo's nature
for freeform
structure design
JOURNAL
Bamboo
Free form
structure
Rhinoceros 3D &
Grasshopper, Galapagos
Plug-in
Only modelling
and simulation
(Wang et al.,
2017)
14
The
Opportunities
and Challenges
of Using
Parametric
Architectural
Design Tools to
Design with Full-
Culm Bamboo:
Case Study: A
Design for a
Hyperbolic
Paraboloid for
Gutter-Less
Rainwater
Capture Using
Full-Culm
Bamboo
BOOK
Full-culm
bamboo
hyperbolic
paraboloid
Rhinoceros 3D &
Grasshopper
Galapagos Plug-in
Only modelling
and simulation
(Naylor, 2020)
15
Weaving
physical-digital
networks: Brazil-
Germany
integration
experience
CONFERENCE
Bamboo
poles and
strips
Bamboo
freeform
a parabolic
hyperboloid grid
shell
Rhinoceros 3D &
Grasshopper
Karamba Plug-in for
loads simulations
Manual assembly
Full-scale
prototyping
(Wallisser,
Henriques and
Menna, 2019)
16
Integrating
Computational
Design and
Traditional
Crafts, A
Reinvention Of
Bamboo
Structures
CONFERENCE
Bamboo
Umbrella free-
form structure
Rhinoceros 3D &
Grasshopper, Karamba
Plug-in for Structural
analysis, Kangaroo Plug-
in
Manual
fabrication
(Huang, 2022)

NO
BAMBOO &
DIGITAL
FABRICATION
RESEARCH
TYPE OF
PUBLICATION
MATERIAL
STRUCTURAL
SYSTEM
DIGITAL DESIGN &
OPTIMISATION
TOOLS
FABRICATION
METHODS
REFERENCES
17
Design
Exploration of
Bamboo Shells
Structures by
Using Parametric
Tools
JOURNAL
Bamboo
structures
double-curved
shells
Rhinoceros 3D &
Grasshopper, Karamba
3D Plug-in for Structural
analysis, Parametric
design, and optimization
for the early structural
design stage
Only modeling
and simulation
(Estrada Meza
et al., 2022)
18
Robotic Softness:
An Adaptive
Robotic
Fabrication
Process for
Woven
Structures
CONFERENCE
Rattan
woven
structure
3-dimensional
freeform woven
structures
Rhinoceros3D and
Grasshopper/RhinoPython
6-axis industrial
robot, a KUKA
KR 125/2
(Brugnaro,
Vasey and
Menges, 2008)
19
Co-Designing
Material-Robot
Construction
Behaviors:
Teaching
distributed
robotic systems
to leverage active
bending for light-
touch assembly
of bamboo
bundle structures
CONFERENCE
Bamboo rods
bundle
structures
(diameters
1.0 to 1.8
cm)
Joint: metal
zip-tie joints
and steel
anchor.
Active Bending
structure
Not mentioned
Mobile Robots
with Deep
Reinforcement
Learning (DRL)
(Lochnicki et
al., 2021)
Table 1. The scope of digital design, optimization, and fabrication methods is examined across
the 19 articles.
5. Findings and Conclusions
Our conclusion focuses on answering our initial research questions: What are
the most useful and applicable parametric design, optimization, and
fabrication tools that can be utilized in the design process of Indonesian
bamboo hyperbolic paraboloid structures? Of the 19 chosen articles, 12
employ parametric design tools as digital design strategies, with Rhinoceros
and Grasshopper being the most prevalent and practical choices.
Supplementary plug-ins such as Kangaroo, Ladybug, Karamba, and
Galapagos find utility in structural, environmental, optimization, and
simulation tasks. Solely one article integrates BIM Modeling alongside
numerical simulations for bamboo digital design.
What design and fabrication workflow would be the most suitable to
potentially revolutionize Indonesian bamboo-based traditional architecture and
make it accessible to contemporary architecture? Eight of the eighteen
selected articles utilize manual fabrication and assembly, including hand
bending and on-site manual assembly. Four articles demonstrate the
application of mixed reality (VR and AR) cooperation during the fabrication
and assembly process, and three articles applied robotic technology consisting
of mobile robotic arms (UR10e) with custom 3D-printed pneumatic grippers,
6-axis industrial robot, a KUKA KR 125/2, and the mobile robots with deep
reinforcement learning (DRL) algorithms during fabrication of the structures.
Additionally, one article shows the potential use of robotic tools attached to

3D scanning sensors during the material selection. Furthermore, our findings
show four articles about bamboo digital and parametric design that were only
conducted in the modelling and simulation phase without fabrication stages.
These projects relied on manual fabrication and assembly indicating that it is
the most popular, pragmatic, reliable, and effective approach. Using mixed
reality tools can enrich the various digital fabrication strategies in bamboo
structures. Three articles have demonstrated the potential use of robotic
technology involvement during the fabrication and assembly stages; however
further investigation is required due to the challenges of stability and
unpredictable disturbances to achieve full automation in bamboo fabrication.
Our deduction indicates that achieving our fabrication research objectives will
require integrating a multifaceted approach of tools and techniques to
effectively navigate and maximize human-robot collaboration across different
stages of the fabrication workflow.
5.1 PROPOSED WORKFLOW
Figure 17. The review leads to a proposed novel workflow to reimagine the digital design
and fabrication of traditional Indonesian roofs.

The research question also touches on our research methodology's potential to
move beyond traditional Indonesian bamboo architecture. Hence, we propose
a new workflow (figure 17) based on the literature review findings. We start
with applying parametric design and optimization for traditional roof
structures based on collecting and analyzing data about the dimensions and
conventional roof geometry frame structures. Once we identify the basic
original principle of the traditional roof frame structure, we will design a new
scalable roof and apply the proposed workflow for digital design and
fabrication of traditional roof frame structures. We optimize the roof structure
and fabrication parameters during the design phase to achieve efficient
fabrication by evaluating and verifying the entire process scenarios and
performances. Regarding the fabrication process, we intend to deploy a hybrid
system involving collaborative efforts between humans and robots to construct
bamboo roof structures. This is achieved by integrating various technologies
at distinct stages of the fabrication workflow.
Our systematic literature review underscores the opportunities and challenges
in achieving automation in bamboo construction. As Huang, Z. (2019) has
mentioned, the fabrication and assembly of bamboo frame structures
historically have been highly dependent on manual operations in construction
and difficult to integrate with other standardized building materials. As
emphasized by Edsinger and Kemp (2007), in unstructured and non-static
environments, especially in construction sites, the robustness and autonomy of
such robotic processes are still remarkably low, especially in bamboo material
with organic and flexible geometry. However, in this case, the lack of
autonomy will encourage complementary skills and tools by providing
seamless communication and data exchange in collaborative scenarios
between humans and robots (Aryania et al., 2012). Our future work will focus
on verifying our proposed framework through design experiments.
Acknowledgements
The authors would like to express appreciation to the Indonesian Education
Scholarships / Beasiswa Pendidikan Indonesia (BPI) Ministry Education,
Culture, Research, and Technolgy and the Indonesian Endowment Fund for
Education / Lembaga Pengelola Dana Pendidikan (LPDP) Ministry of
Finance of the Republic of Indonesia for financial support for the full
scholarship.

References
Amtsberg, F. and Raspall, F. (2018) ‘Bambooˆ3’, Computer-Aided Architectural Design
Research in Asia (CAADRIA) 2019, 1, pp. 245–254.
Aryania, A., Daniel, B., Thomessen, T., & Sziebig, G. (2012, December). New trends in
industrial robot controller user interfaces. In 2012 IEEE 3rd International Conference on
Cognitive Infocommunications (CogInfoCom) (pp. 365-369). IEEE.
Brugnaro, G., Vasey, L. and Menges, A. (2008) ‘Robotic Softness: An Adaptive Robotic
Fabrication Process for Woven Structures’, ACADIA // 2016 Posthuman Frontiers: Data,
Designers, and Cognitive Machines, pp. 154–163. Available at:
http://papers.cumincad.org/data/works/att/acadia16_154.pdf.
Chen, I.C. and Hou, J.H. (2016) ‘Design with bamboo bend : Bridging natural material and
computational design’, CAADRIA 2016, 21st International Conference on Computer-Aided
Architectural Design Research in Asia - Living Systems and Micro-Utopias: Towards
Continuous Designing, (Minke 2012), pp. 125–133. Available at:
https://doi.org/10.52842/conf.caadria.2016.125.
Crolla, K. (2017) ‘Building indeterminacy modelling – the “ZCB Bamboo Pavilion” as a case
study on nonstandard construction from natural materials’, Visualization in Engineering, 5(1).
Available at: https://doi.org/10.1186/s40327-017-0051-4.
Edsinger, A., & Kemp, C. C. (2007, August). Human-robot interaction for cooperative
manipulation: Handing objects to one another. In RO-MAN 2007-The 16th IEEE International
Symposium on Robot and Human Interactive Communication (pp. 1167-1172). IEEE.
Estrada Meza, M. G., González Meza, E., Chi Pool, D. A., & McNamara Trujillo, J.
S. (2022) ‘Design Exploration of Bamboo Shells Structures by Using Parametric Tools’,
International Colloquium of Art and Design Education Research (i-CADER 2014), 5(1), pp.
133–144. Available at: https://doi.org/10.3390/app12157522.
Goepel, G. and Crolla, K. (2020) ‘Augmented Reality-based Collaboration’, RE:
Anthropocene, Design in the Age of Humans - Proceedings of the 25th International
Conference on Computer-Aided Architectural Design Research in Asia, CAADRIA 2020, 2,
pp. 313–322.
Hardiman, G. (2005) ‘The Wisdom Of Traditional Architecture In Indonesia To Anticipate
The Problem Of The Thermal Comfort Inside The Building’, in International Seminar on
Sustainable Environment and Architecture.
Huang, J.M. (2022) ‘Integrating Computational Design and Traditional Crafts - A
Reinvention of Bamboo Structures’, Proceedings of the 22nd Conference on Computer Aided
Architectural Design Research in Asia (CAADRIA), pp. 437–444. Available at:
https://doi.org/10.52842/conf.caadria.2017.437.
Huang, Z., & Huang, Z. (2019). Model Study on the Application of Bamboo in Building
Envelope. Application of Bamboo in Building Envelope, 81-118.
Kenan Sun, Tian Tian Lo, Xiangmin Guo, J.W. (2022) ‘Digital construction of bamboo
architecture based on multi-technology cooperation’, in CAADRIA 2022, pp. 223–232.

22
Lochnicki, G. Kalousdian, N.K. Leder, S. Maierhofer, M. Wood, D. & Menges, A. (2021)
‘Co-Designing Material-Robot Construction Behaviors: Teaching distributed robotic systems
to leverage active bending for light-touch assembly of bamboo bundle structures’, Association
for Computer Aided Design in Architecture Annual Conference, ACADIA 2021, pp. 470–479.
Lorenzo, R., Lee, C., Oliva-Salinas, J. G., & Ontiveros-Hernandez, M. J. (2017) ‘BIM
bamboo: A digital design framework for bamboo culms’, in Proceedings of the Institution of
Civil Engineers: Structures and Buildings, pp. 295–302. Available at:
https://doi.org/10.1680/jstbu.16.00091.
Mitterberger, D., Atanasova, L., Dörfler, K., Gramazio, F., & Kohler, M. (2022) ‘Tie a knot :
human–robot cooperative workflow for assembling wooden structures using rope joints’,
Construction Robotics, (0123456789). Available at: https://doi.org/10.1007/s41693-022-
00083-2.
Moniz, A. B., & Krings, B. J. (2016). Robots working with humans or humans working with
robots? Searching for social dimensions in new human-robot interaction in
industry. Societies, 6(3), 23.
Naylor, J.O. (2020) The Opportunities and Challenges of Using Parametric Architectural
Design Tools to Design with Full-Culm Bamboo: Case Study: A Design for a Hyperbolic
Paraboloid for Gutter-Less Rainwater Capture Using Full-Culm Bamboo, Lecture Notes in
Civil Engineering. Springer Singapore. Available at: https://doi.org/10.1007/978-981-15-
1193-6_2.
Naylor, J.O. (2021) ‘Protection by Generative Design Designing for full-culm bamboo
durability using sunlight-hours modelling in Ladybug’, in Proceedings of the International
Conference on Education and Research in Computer Aided Architectural Design in Europe,
pp. 315–324. Available at: https://doi.org/10.52842/conf.ecaade.2021.1.315.
Naylor, J.O., Stamm, J. and Vahanvati, M. (2022) ‘Applying Design Tools for Full-Culm
Bamboo’, in, pp. 1–12. Available at: https://doi.org/10.5281/zenodo.6856269.
Nurdiah, E.A. (2001) ‘Protruding Saddle Roof Structure of Toraja , Minang and Toba Batak
House : Learning from Traditional Structure System’, pp. 65–70.
Prasetyo, Y.H. and Astuti, S. (2017) ‘Tropic Climate Form of Nusantara Traditional
Architecture’s Expression in Regionalism’, Settlement Journal, 12(2), pp. 80–93.
Rajendra, A. (2021) ‘Contemporary challenges of the Indonesian vernacular architecture in
responding to climate change’, IOP Conference Series: Earth and Environmental Science,
824(1). Available at: https://doi.org/10.1088/1755-1315/824/1/012094.
Supriatna, C. and Handayani, S. (2021) ‘Expression of Philosophical Forms and Meanings in
the Architectural Principles of Minangkabau Traditional Houses, Padang, Indonesia’,
Architecture Journal ZONASI, 4(2), pp. 307–316. Available at:
https://doi.org/10.17509/jaz.v4i2.32964.
Suzuki, S., Slabbinck, E.L.M. and Knippers, J. (2020) ‘Computational Bamboo: Digital and
Vernacular Design Principles for the Construction of a Temporary Bending-Active Structure’,
in Impact: Design With All Senses. Springer International Publishing, pp. 224–236. Available
at: https://doi.org/10.1007/978-3-030-29829-6.

23
Tanadini, D., Ohlbrock, P. O., Kladeftira, M., Leschok, M., Skevaki, E., Dillenburger, B., &
D'Acunto, P. (2022, September). Exploring the potential of equilibrium-based methods in
additive manufacturing: the Digital Bamboo pavilion. In Proceedings of IASS Annual
Symposia (Vol. 2022, No. 8, pp. 1-12). International Association for Shell and Spatial
Structures (IASS).
Toe, D.H.C. and Kubota, T. (2015) ‘Comparative assessment of vernacular passive cooling
techniques for improving indoor thermal comfort of modern terraced houses in hot-humid
climate of Malaysia’, Solar Energy, 114. Available at:
https://doi.org/10.1016/j.solener.2015.01.035.
Wallisser, T., Henriques, G.C. and Menna, R.L. (2019) ‘Weaving physical-digital networks :
Brazil-Germany integration experience’, in Design - Collaboration and Participation -
Volume 1 eCAADe 37 / SIGraDi 23. Available at: https://doi.org/10.5151/proceedings-
ecaadesigradi2019.
Wang, T. H., Espinosa Trujillo, O., Chang, W. S., & Deng, B (2017) ‘Encoding bamboo’s
nature for freeform structure design’, International Journal of Architectural Computing,
15(2), pp. 169–182. Available at: https://doi.org/10.1177/1478077117714943.
Wu, N. H., Dimopoulou, M., Hsieh, H. H., & Chatzakis, C. (2019) ‘A digital system for AR
fabrication of bamboo structures through the discrete digitization of bamboo’, Proceedings of
the International Conference on Education and Research in Computer Aided Architectural
Design in Europe, 2, pp. 161–170. Available at: https://doi.org/10.5151/proceedings-
ecaadesigradi2019_538.