Recent advances in three-dimensional printing technologies provide one way not only to speed up freeform fabrication but also to exert programmable control over mechanical properties. Besides, origami-inspired structures, origami-inspired metamaterials, and even origami-inspired robotics primarily demonstrate the promising potential for innovative inspirations of engineering solutions. The motivation of this work is to explore a fully programmable robotic perspective with a fusion of programmable metamaterials, programmable mechanics, and programmable fabrication. First, we proposed an illustrative roadmap for transforming an origami model into a fully programmable robotic system. Then, we introduced an origami spring model and revealed its shape-shifting geometry and intrinsic metamaterial mechanisms, especially the rarely switchable behavior from transverse compression to longitudinal stretchability, and the curvilinear deployment. Furthermore, we addressed the fabrication challenges of three-dimensional printable origami sheets considering three-dimensional printability, foldability with high elasticity, and good damage tolerance. Finally, we developed a fully soft manipulator in terms of the highly reversible compressibility of origami spring metamaterials. And we also devised a peristaltic crawling robot with undulatory movements induced by inclination deployment effect of origami spring metamaterials. Conceivably, the proposed fully programmable robotic system was demonstrated starting from programmable metamaterials, programmable mechanics, and programmable fabrication to programmable robotic behaviors. The contribution of this work also suggested that robotic morphing could be tunable by hierarchical programming from modeling and fabrication to actions.

三维打印技术的最新进展不仅提供了一种加快自由成型制造速度，而且还可以对机械性能进行可编程控制的方法。此外，受折纸启发的结构、受折纸启发的超材料，甚至受折纸启发的机器人技术主要展示了工程解决方案创新灵感的巨大潜力。这项工作的动机是探索完全可编程的机器人视角，融合可编程超材料、可编程力学和可编程制造。首先，我们提出了一个将折纸模型转变为完全可编程机器人系统的说明性路线图。然后，我们介绍了折纸弹簧模型，并揭示了其变形几何结构和内在超材料机制，特别是从横向压缩到纵向拉伸的罕见切换行为，以及曲线部署。此外，考虑到三维印刷性、高弹性可折叠性和良好的损伤容限，我们解决了三维可印刷折纸的制造挑战。最后，我们利用折纸弹簧超材料的高度可逆压缩性，开发了一种全软机械臂。我们还设计了一种蠕动爬行机器人，其由折纸弹簧超材料的倾斜部署效应引起波动运动。可以想象，所提出的完全可编程机器人系统从可编程超材料、可编程力学、可编程制造到可编程机器人行为开始进行演示。这项工作的贡献还表明，机器人变形可以通过从建模、制造到动作的分层编程来调节。