Multimodal locomotion via folding of a degree-four vertex

Folding an origami pattern is governed by simple geometric rules, yet it can lead to a rich behavior that can be exploited in applications ranging from shape morphing to robotics. Here, we show that folding one of the simplest origami building blocks ---a rigid, degree-four vertex--- can lead to locomotion. We first describe how modifying the geometry of the degree-four vertex can lead to different trajectories. We then realize a simple origami-robot capable of moving along arbitrary trajectories by superimposing multiple crease patterns on the same origami sheet and activating/freezing the hinges leading to the desired motion.