Programmable matter is a material that produces
distinctive shapes or patterns according to a given command.
Often they are composed of interconnected modular elements
that are able to make or break the connections or alter
relative orientation. We present programmable matter based
on robotic origami that demonstrates the capability to fold into
3D shapes starting from a nominally 2D sheet. This concept
requires high torque density actuators, flexible electronics and
an integrated substrate. We report on unique robot fabrication
techniques that incorporate torsional shape memory actuators
and stretchable electronics.