  Origami designs and structures have been widely used in many fields, such as
morphing structures, robotics, and metamaterials. However, the design and
fabrication of origami structures rely on human experiences and skills, which
are both time and labor-consuming. In this paper, we present a rapid design and
fabrication method for string-driven origami structures and robots. We
developed an origami design software to generate desired crease patterns based
on analytical models and Evolution Strategies (ES). Additionally, the software
can automatically produce 3D models of origami designs. We then used a
dual-material 3D printer to fabricate those wrapping-based origami structures
with the required mechanical properties. We utilized Twisted String Actuators
(TSAs) to fold the target 3D structures from flat plates. To demonstrate the
capability of these techniques, we built and tested an origami crawling robot
and an origami robotic arm using 3D-printed origami structures driven by TSAs.
