Origami has undergone several revolutions: the development of a novel visual language in the art of paper folding in the 20th century, that of a mathematical language for modeling 3-D folding and recently, that of self-folding mechanical structures. The design of origami-based structures has indeed entered a new era when micro-actuators such as electro-active polymers (EAP), and shape-memory alloys (SMA) or polymers (SMP) were introduced to make structures self-deployable or to enable them to change their shapes dynamically, for example by combining elastic bands and tendon. In a recent focus published in Science Robotics, Rus and Sung predict that origami robots will be autonomous machines with increased customizability and adaptability. The versatility and diversity of folding structures can lead to the development of cutting-edge innovations by combining them with micro-actuators.