  Origami-inspired robots are of particular interest given their potential for
rapid and accessible design and fabrication of elegant designs and complex
functionalities through cutting and folding of flexible 2D sheets or even
strings, i.e.printable manufacturing. Yet, origami robots still require bulky,
rigid components or electronics for actuation and control to accomplish tasks
with reliability, programmability, ability to output substantial force, and
durability, restricting their full potential. Here, we present a printable
self-sustained compliant oscillator that generates periodic actuation using
only constant electrical power, without discrete components or electronic
control hardware. This oscillator is robust (9 out of 10 prototypes worked
successfully on the first try), configurable (with tunable periods from 3 s to
12 s), powerful (can overcome hydrodynamic resistance to consistently propel a
swimmer at ~1.6 body lengths/min), and long-lasting (~10^3 cycles); it enables
driving macroscale devices with prescribed autonomous behaviors, e.g.
locomotion and sequencing. This oscillator is also fully functional underwater
and in high magnetic fields. Our analytical model characterizes essential
parameters of the oscillation period, enabling programmable design of the
oscillator. The printable oscillator can be integrated into origami-inspired
systems seamlessly and monolithically, allowing rapid design and prototyping;
the resulting integrated devices are lightweight, low-cost, compliant,
electronic-free, and nonmagnetic, enabling practical applications in extreme
areas. We demonstrate the functionalities of the oscillator with: (i)
autonomous gliding of a printable swimmer, (ii) LED flashing, and (iii) fluid
stirring. This work paves the way for realizing fully printable autonomous
robots with a high integration of actuation and control.
