This paper presents a modular soft origami robot with reprogrammable electrothermal actuation, inspired by the segmented body of caterpillars. The robot is composed of multiple Kresling origami units, each with either active or passive functions. Active units include electrothermal bimorph actuators that enable bending and contraction, while passive units amplify bending curvature for steering. The robot can perform bidirectional and steering locomotion with precise curvature control. The Kresling origami structure is designed with integrated thermal bimorph actuators made of liquid crystal elastomer and polyimide layers, enabling sharp, reversible bending along the crease line. The robot's modular design allows for reprogrammable actuation modes, enabling it to perform complex movements such as steering and crawling. The robot was tested on various surfaces and demonstrated the ability to carry cargo and navigate through confined spaces. The study highlights the potential of modular soft robotics for applications requiring adaptability and functionality enhancement. The robot's design incorporates a two-level module system, allowing for scalability and customization. The results show that the robot can achieve a crawling speed of 0.195 mm/s and follow complex trajectories, demonstrating its versatility and potential for future soft robotics applications.This paper presents a modular soft origami robot with reprogrammable electrothermal actuation, inspired by the segmented body of caterpillars. The robot is composed of multiple Kresling origami units, each with either active or passive functions. Active units include electrothermal bimorph actuators that enable bending and contraction, while passive units amplify bending curvature for steering. The robot can perform bidirectional and steering locomotion with precise curvature control. The Kresling origami structure is designed with integrated thermal bimorph actuators made of liquid crystal elastomer and polyimide layers, enabling sharp, reversible bending along the crease line. The robot's modular design allows for reprogrammable actuation modes, enabling it to perform complex movements such as steering and crawling. The robot was tested on various surfaces and demonstrated the ability to carry cargo and navigate through confined spaces. The study highlights the potential of modular soft robotics for applications requiring adaptability and functionality enhancement. The robot's design incorporates a two-level module system, allowing for scalability and customization. The results show that the robot can achieve a crawling speed of 0.195 mm/s and follow complex trajectories, demonstrating its versatility and potential for future soft robotics applications.