We focus on one of the simplest origami building blocks, the degree-four origami vertex [34-36], and demonstrate While traditionally regarded as an art form, origami through a combination of experiments and modeling has recently made a profound impact on engineering how the position of the central vertex and the orientation applications, playing a pivotal role in the design of deployable of the creases significantly impact its crawling ability and reconfigurable structures [1-6], metamaterials and resulting trajectory. Guided by our model, we with programmable responses [7, 8] and mechanical identify designs that can move straight when the folding logic elements [9, 10]. Further, origami principles have angle is actuated within a certain range and turn when provided an opportunity to simplify and accelerate the actuated in another range. This enables the creation fabrication of robots, since they enable their manufacturing of simple machines that can follow complex trajectories from a flat composite through folding [11-16].